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61 lines
1.8 KiB
61 lines
1.8 KiB
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="parachute_small">
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<pose>0 0 0 0 0 0</pose>
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<static>false</static>
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<link name="chute">
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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>0.100000</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="parachute_collision">
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<pose>0 0 1.25 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.35</radius>
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<length>0.4</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="parachute_vis">
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<pose>-0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://parachute_small/meshes/parachute_small.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<velocity_decay />
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</link>
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<plugin name="parachute_drag" filename="libLiftDragPlugin.so">
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<a0>0</a0>
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<cla>0</cla>
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<cda>1.114</cda> <!-- Such that Cd = 1.75 at alpha = 90deg (= upright parachute) -->
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<cma>0</cma>
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<alpha_stall>1.5708</alpha_stall> <!-- = upright parachute -->
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<cla_stall>0</cla_stall>
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<cda_stall>0.01</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>0 0 1.25</cp> <!-- About the vertical center of the chute -->
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<area>3</area> <!-- Area of a circle of diameter 1m = 0.79, 3m2 is for a better visualization -->
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<air_density>1.2041</air_density>
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<forward>1 0 0</forward>
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<upward>0 0 1</upward>
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<link_name>chute</link_name>
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</plugin>
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</model>
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</sdf>
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