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Sagar Doshi 2020-02-10 21:58:16 +00:00
parent f2dbe33169
commit 2bd4eef8e9
1 changed files with 62 additions and 0 deletions
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model.sdf Executable file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<model name='Brick'>
<link name='Brick'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''> 0 0 0.0 -0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.0017</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0017</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
</inertial>
<collision name='Brick_collision'>
<pose frame=''>0 0 0 1.5708 -0 0</pose>
<geometry>
<box>
<size>0.192 0.062 0.086</size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<kp>100000.000000</kp>
<kd>10.00000</kd>
<max_vel>2.000000</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name='Brick_visual'>
<pose frame=''>0 0 0 1.5708 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://Brick/meshes/Brick_1.STL</uri>
</mesh>
</geometry>
<material>
<ambient>0.698 0.25 0.25 1</ambient>
<diffuse>0.698 0.25 0.25 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</sdf>