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43 lines
1009 B
43 lines
1009 B
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="small box">
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<pose>0 0 0.09 0 0 0</pose>
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<static>false</static>
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<link name="link">
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<inertial>
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<mass>2.0</mass>
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<inertia>
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<ixx>0.0008611666666666669</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.0008611666666666669</iyy>
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<iyz>0</iyz>
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<izz>0.0008611666666666669</izz>
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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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<box>
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<size>0.40 0.23 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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<geometry>
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<mesh>
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<uri>model://small_box/meshes/small_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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</model>
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</sdf>
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