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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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drc_practice_truss/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="truss">
<link name="link">
<inertial>
<mass>20.7307</mass>
<inertia>
<ixx>4.7978</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<iyy>0.4699</iyy>
<iyz>-0.002</iyz>
<izz>4.7978</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<mesh>
<uri>model://drc_practice_truss/meshes/truss.dae</uri>
</mesh>
</geometry>
<surface>
<bounce>
<restitution_coefficient>0.0</restitution_coefficient>
<threshold>100000</threshold>
</bounce>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://drc_practice_truss/meshes/truss.dae</uri>
</mesh>
</geometry>
</visual>
<!-- visual used for measuring mesh size ->
<visual name="visual_box">
<transparency>0.5</transparency>
<geometry>
<box>
<size>0.25 1.5 0.25</size>
</box>
</geometry>
</visual>
-->
</link>
</model>
</sdf>