68 lines
1.7 KiB
XML
68 lines
1.7 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="marble_1_5cm">
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<link name="link">
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<pose>0 0 0.0075 0 0 0</pose>
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<inertial>
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<mass>0.0062</mass>
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<inertia>
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<ixx>1.395e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.395e-07</iyy>
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<iyz>0</iyz>
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<izz>1.395e-07</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<sphere>
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<radius>0.0075</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<!-- glass -->
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<poissons_ratio>0.22</poissons_ratio>
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<elastic_modulus>5.1e+10</elastic_modulus>
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<ode>
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<kp>100000</kp>
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<kd>100</kd>
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<max_vel>100.0</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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<friction>
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<torsional>
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<coefficient>1.0</coefficient>
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<use_patch_radius>0</use_patch_radius>
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<surface_radius>0.01</surface_radius>
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</torsional>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<sphere>
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<radius>0.0075</radius>
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</sphere>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Blue</name>
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</script>
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</material>
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</visual>
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<!-- approximate rolling friction -->
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<velocity_decay>
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<linear>0.00</linear>
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<angular>0.005</angular>
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</velocity_decay>
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</link>
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</model>
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</sdf>
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