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Quella777
2025-08-25 16:30:02 +08:00
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stone_10_2_5_1cm/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="stone_10_2_5_1cm">
<link name="link">
<pose>0 0 0.005 0 0 0</pose>
<inertial>
<mass>0.0628</mass>
<inertia>
<ixx>3.794166666666667e-06</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>5.285666666666667e-05</iyy>
<iyz>0</iyz>
<izz>5.560416666666667e-05</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<box>
<size>0.1 0.025 0.01</size>
</box>
</geometry>
<surface>
<contact>
<!-- According to:
http://dx.doi.org/10.1007/BF00547934
heat treated chert is somehwere between 72-88 GPa. Based on these findings,
80 GPa is selected without any further qualification.
-->
<poissons_ratio>0.15</poissons_ratio>
<elastic_modulus>8.0e+10</elastic_modulus>
<ode>
<kp>100000</kp>
<kd>100</kd>
<max_vel>100.0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<torsional>
<coefficient>1.0</coefficient>
<use_patch_radius>0</use_patch_radius>
<surface_radius>0.01</surface_radius>
</torsional>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.025 0.01</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>