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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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drc_practice_block_wall/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="block_wall">
<pose>0 0 0.30924 0 0 0</pose>
<static>true</static>
<link name="blocks">
<collision name="collision">
<geometry>
<mesh>
<uri>model://drc_practice_block_wall/meshes/block_wall.dae</uri>
</mesh>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>100000</threshold>
</bounce>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
<contact>
<ode>
<soft_cfm>0.0</soft_cfm>
<!--"sponginess", 0.0=hard-->
<soft_erp>0.2</soft_erp>
<max_vel>0.0</max_vel>
<min_depth>0.0</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_block_wall/meshes/block_wall.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>