Commit 6bf27061 authored by Mathieu Reymond's avatar Mathieu Reymond
Browse files

added models

parent 8b52e2aa
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This diff is collapsed.
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<author>
<name>John Hsu</name>
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<description>
A can of Coke.
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<model name="coke_can">
<link name="link">
<inertial>
<pose>-0.01 -0.012 0.15 0 0 0</pose>
<mass>0.390</mass>
<inertia>
<ixx>0.00058</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00058</iyy>
<iyz>0</iyz>
<izz>0.00019</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 -0.46 0 0 0</pose>
<geometry>
<mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>10000000.0</kp>
<kd>1.0</kd>
<min_depth>0.001</min_depth>
<max_vel>0.1</max_vel>
</ode>
</contact>