<?xml version="1.0" ?> <sdf version="1.5"> <model name="lumber_2x6x48"> <link name="link"> <self_collide>false</self_collide> <inertial> <mass>2.22</mass> <inertia> <ixx>0.0039</ixx> <ixy>0.00</ixy> <ixz>0.00</ixz> <iyy>0.28</iyy> <iyz>0.00</iyz> <izz>0.2766</izz> </inertia> </inertial> <collision name="collision"> <geometry> <box> <size>1.2192 0.038 0.1396</size> </box> </geometry> <surface> <bounce> <restitution_coefficient>0.01</restitution_coefficient> <threshold>5.0</threshold> </bounce> <friction> <ode> <mu>5</mu> <mu2>5</mu2> </ode> </friction> <contact> <ode> <soft_cfm>0.01</soft_cfm> <!--"sponginess", 0.0=hard--> <kp>10000.0</kp> <kd>1000.0</kd> <min_depth>0.001</min_depth> </ode> </contact> </surface> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://drc_practice_2x6/meshes/2x6x48.dae</uri> </mesh> </geometry> </visual> </link> </model> </sdf>