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67 lines
1.7 KiB
67 lines
1.7 KiB
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="parachute_package">
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<include>
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<uri>model://parachute_small</uri>
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<pose>0 0 0.2 0 0 0</pose>
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</include>
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<link name="base_link">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>1.00</mass>
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<inertia>
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<ixx>0.010000</ixx>
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<ixy>0.000000</ixy>
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<ixz>0.000000</ixz>
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<iyy>0.010000</iyy>
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<iyz>0.000000</iyz>
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<izz>0.010000</izz>
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</inertia>
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</inertial>
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<collision name="collision">
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<pose>0 0 0.3 0 0 0</pose>
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<geometry>
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<box>
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<size>0.15 0.1 0.18</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>0.1</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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</surface>
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</collision>
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<visual name="visual">
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<pose>0 0 0.3 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.125 0.125 0.125</scale>
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<uri>model://big_box/meshes/big_box.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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<joint name='parachute_joint' type='revolute'>
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<child>base_link</child>
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<parent>parachute_small::chute</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>0</lower>
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<upper>0</upper>
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<effort>0</effort>
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<velocity>0</velocity>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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</model>
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</sdf>
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