<?xml version='1.0'?> <sdf version='1.4'> <model name="jaggedrock"> <static>true</static> <link name="link"> <inertial> <mass>1</mass> <inertia> <ixx>0.166667</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.166667</iyy> <iyz>0</iyz> <izz>0.166667</izz> </inertia> <pose frame=''>0 0 0 0 -0 0</pose> </inertial> <self_collide>1</self_collide> <kinematic>0</kinematic> <gravity>0</gravity> <collision name="collision"> <geometry> <mesh> <uri>model://jaggedrock/meshes/jaggedrock_texture.dae</uri> </mesh> </geometry> <surface> <friction> <ode> <mu>1</mu> <mu2>1</mu2> <fdir1>0 0 0</fdir1> <slip1>0</slip1> <slip2>0</slip2> </ode> <torsional> <coefficient>1</coefficient> <patch_radius>0</patch_radius> <surface_radius>0</surface_radius> <use_patch_radius>1</use_patch_radius> <ode> <slip>0</slip> </ode> </torsional> </friction> <bounce> <restitution_coefficient>0</restitution_coefficient> <threshold>1e+06</threshold> </bounce> <contact> <collide_without_contact>0</collide_without_contact> <collide_without_contact_bitmask>1</collide_without_contact_bitmask> <collide_bitmask>1</collide_bitmask> <ode> <soft_cfm>0</soft_cfm> <soft_erp>0.2</soft_erp> <kp>1e+13</kp> <kd>1</kd> <max_vel>0.01</max_vel> <min_depth>0</min_depth> </ode> <bullet> <split_impulse>1</split_impulse> <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold> <soft_cfm>0</soft_cfm> <soft_erp>0.2</soft_erp> <kp>1e+13</kp> <kd>1</kd> </bullet> </contact> </surface> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://jaggedrock/meshes/jaggedrock_texture.dae</uri> </mesh> </geometry> </visual> </link> </model> </sdf>