<?xml version="1.0" ?> <sdf version="1.4"> <model name="cinder_block_2"> <link name="link"> <inertial> <pose>0 0 0.0714375 0 0 0</pose> <!-- volume about 0.0085 m^3, density 2000 kg/m^3 --> <mass>5</mass> <!-- approximate as uniform box 0.37 x 0.17 x 0.20 m --> <inertia> <ixx>0.06908</ixx> <ixy>0.0000</ixy><iyy>0.028705</iyy> <ixz>0.0000</ixz><iyz>0.0000</iyz><izz>0.073708</izz> </inertia> </inertial> <visual name="visual"> <geometry> <mesh> <uri>model://cinder_block_2/meshes/cinder_block.dae</uri> </mesh> </geometry> </visual> <collision name="top"> <pose>0 0 0.130175 0 0 0</pose> <geometry> <box> <size>0.19368008 0.396875 0.0254</size> </box> </geometry> <surface> <contact> <ode> <max_vel>0.1</max_vel> <min_depth>0.001</min_depth> </ode> </contact> <friction> <ode> <mu>1.0</mu> <mu2>1.0</mu2> </ode> </friction> </surface> </collision> <collision name="bottom"> <pose>0 0 0.0127 0 0 0</pose> <geometry> <box> <size>0.19368008 0.396875 0.0254</size> </box> </geometry> <surface> <contact> <ode> <max_vel>0.1</max_vel> <min_depth>0.001</min_depth> </ode> </contact> <friction> <ode> <mu>1.0</mu> <mu2>1.0</mu2> </ode> </friction> </surface> </collision> <collision name="left"> <pose>0 -0.1857375 0.0714375 0 0 0</pose> <geometry> <box> <size>0.19368008 0.0254 0.092075</size> </box> </geometry> <surface> <contact> <ode> <max_vel>0.1</max_vel> <min_depth>0.001</min_depth> </ode> </contact> <friction> <ode> <mu>1.0</mu> <mu2>1.0</mu2> </ode> </friction> </surface> </collision> <collision name="right"> <pose>0 0.1857375 0.0714375 0 0 0</pose> <geometry> <box> <size>0.19368008 0.0254 0.092075</size> </box> </geometry> <surface> <contact> <ode> <max_vel>0.1</max_vel> <min_depth>0.001</min_depth> </ode> </contact> <friction> <ode> <mu>1.0</mu> <mu2>1.0</mu2> </ode> </friction> </surface> </collision> <collision name="middle"> <pose>0 0 0.0714375 0 0 0</pose> <geometry> <box> <size>0.19368008 0.0254 0.092075</size> </box> </geometry> <surface> <contact> <ode> <max_vel>0.1</max_vel> <min_depth>0.001</min_depth> </ode> </contact> <friction> <ode> <mu>1.0</mu> <mu2>1.0</mu2> </ode> </friction> </surface> </collision> </link> </model> </sdf>