<?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>