aws-robomaker-small-warehouse-world/models/aws_robomaker_warehouse_ClutteringA_01/model.sdf at a8ba1cea777799d51db58f759e4d2cfa2c81fd74 · aws-robotics/aws-robomaker-small-warehouse-world · GitHub

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<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="aws_robomaker_warehouse_ClutteringA_01">
    <link name="link">
      <inertial>
        <mass>2</mass>
        <inertia>
          <ixx>0.841</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.954</iyy>
          <iyz>0</iyz>
          <izz>1.422</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_collision.DAE</uri>
            <scale>1 1 1</scale>
          </mesh>
        </geometry>
        <surface>
          <friction>
            <ode>
              <mu>0.6</mu>
              <mu2>0.6</mu2>
              <fdir1>0 0 0</fdir1>
              <slip1>0</slip1>
              <slip2>0</slip2>
            </ode>
            <torsional>
              <coefficient>1</coefficient>
              <patch_radius>0</patch_radius>
              <surface_radius>0</surface_radius>
              <use_patch_radius>1</use_patch_radius>
              <ode>
                <slip>0</slip>
              </ode>
            </torsional>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://aws_robomaker_warehouse_ClutteringA_01/meshes/aws_robomaker_warehouse_ClutteringA_01_visual.DAE</uri>
          </mesh>
        </geometry>
        <meta> <layer> 1 </layer></meta>
      </visual>
    </link>
    <static>1</static>
  </model>
</sdf>