37 lines
902 B
XML
37 lines
902 B
XML
<?xml version="1.0" ?>
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<sdf version="1.4">
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<model name="soccer_ball">
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<static>false</static>
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<link name="soccer_ball_link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<mass>0.026</mass>
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<!-- inertia based on solid sphere 2/5 mr^2 -->
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<inertia>
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<ixx>1.664e-5</ixx>
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<iyy>1.664e-5</iyy>
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<izz>1.664e-5</izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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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>0.04</radius>
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</sphere>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<scale>0.04 0.04 0.04</scale>
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<uri>model://robocup_3Dsim_ball/meshes/ball.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</sdf>
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