simulation/models/lunar/model.sdf at 2f388d8d87e246b5fd361e4cc25c1a7992a86b7f · space-ros/simulation · GitHub

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<?xml version="1.0" ?>
<sdf version="1.4">
  <model name="lunar">
    <static>true</static>

    <link name="link">
      <collision name="collision">
        <surface>
          <friction>
            <ode>
              <mu>0.2</mu>
            </ode>
          </friction>
          <contact>
            <ode>
              <soft_cfm>0.01</soft_cfm>
              <kp>1000</kp>
              <kd>1</kd>
              <!-- <max_vel>0.000001</max_vel> -->
              <min_depth>0.02</min_depth>
            </ode>
          </contact>
        </surface>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://lunar/meshes/lunar_surface.dae</uri>
          </mesh>

        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>model://lunar/meshes/lunar_surface.dae</uri>
          </mesh>
        </geometry>
        <material>
          <script>
            <uri>file://model://lunar/materials/scripts/gazebo.material</uri>
            <name>Gazebo/LunarSurface</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>