mirror of
https://github.com/osrf/gazebo_models.git
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88 lines
2.1 KiB
XML
88 lines
2.1 KiB
XML
<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="round_tin_base">
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<link name="link">
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<inertial>
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<pose>0 0 0.014085 0 0 0</pose>
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<mass>0.0223</mass>
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<inertia>
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<ixx>1.93146783725e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1.93146783725e-05</iyy>
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<iyz>0</iyz>
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<izz>3.568e-05</izz>
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</inertia>
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</inertial>
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<collision name="collision_cylinder">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.04</radius>
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<length>0.002</length>
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</cylinder>
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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>0.0001</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_cylinder">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.04</radius>
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<length>0.002</length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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<collision name="collision_mesh">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
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</mesh>
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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>0.0001</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_mesh">
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<pose>0 0 0.001 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://round_tin_base/meshes/round_tin_base.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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