<?xml version="1.0" ?> <sdf version="1.4"> <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> </surface> </collision> <visual name="visual"> <pose>0 0 -0.46 0 0 0</pose> <geometry> <mesh> <uri>model://coke_can/meshes/coke_can.dae</uri> </mesh> </geometry> </visual> </link> </model> </sdf>