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This commit is contained in:
Max Hunt 2020-02-15 02:17:28 +00:00
parent 5a4bbad19f
commit 6fcc978538
1 changed files with 9 additions and 9 deletions
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18
brick/model.sdf
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@ -7,12 +7,12 @@
<pose frame=''> 0 0 0.0 -0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.7</ixx>
<ixy>0.7</ixy>
<ixz>0.7</ixz>
<iyy>0.7</iyy>
<iyz>0.7</iyz>
<izz>0.7</izz>
<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'>
@ -25,8 +25,8 @@
<surface>
<friction>
<ode>
<mu>200</mu>
<mu2>100</mu2>
<mu>100</mu>
<mu2>50</mu2>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
@ -36,7 +36,7 @@
<ode>
<kp>100000.000000</kp>
<kd>10.00000</kd>
<max_vel>2.000000</max_vel>
<max_vel>10.000000</max_vel>
<min_depth>0.0001</min_depth>
</ode>
</contact>