<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="truss">
    <link name="link">
      <inertial>
        <mass>20.7307</mass>
        <inertia>
          <ixx>4.7978</ixx>
          <ixy>0.0</ixy>
          <ixz>0.0</ixz>
          <iyy>0.4699</iyy>
          <iyz>-0.002</iyz>
          <izz>4.7978</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://drc_practice_truss/meshes/truss.dae</uri>
          </mesh>
        </geometry>
        <surface>
          <bounce>
            <restitution_coefficient>0.0</restitution_coefficient>
            <threshold>100000</threshold>
          </bounce>
          <friction>
            <ode>
              <mu>10</mu>
              <mu2>10</mu2>
            </ode>
          </friction>
        </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://drc_practice_truss/meshes/truss.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <!-- visual used for measuring mesh size ->
      <visual name="visual_box">
        <transparency>0.5</transparency>
        <geometry>
          <box>
            <size>0.25 1.5 0.25</size>
          </box>
        </geometry>
      </visual>
      -->
    </link>
  </model>
</sdf>