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description.sdf
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description.sdf
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="box">
<static>true</static>
<link name="box_link">
<gravity>0.0</gravity>
<velocity_decay>
<linear>
0.5
</linear>
</velocity_decay>
<inertial>
<mass>10</mass>
</inertial>
<collision name="box_collision">
<surface>
<contact>
<collide_without_contact>true</collide_without_contact>
</contact>
<friction>
<bullet>
<friction>1.0</friction>
<friction2>1.0</friction2>
<fdir1>0 0 0</fdir1>
<rolling_friction>1.0</rolling_friction>
</bullet>
</friction>
</surface>
<geometry>
<box>
<size>0.07 0.07 0.07</size>
</box>
</geometry>
</collision>
<visual name="box_visual">
<geometry>
<box>
<size>0.07 0.07 0.07</size>
</box>
</geometry>
</visual>
<sensor name='box_contact' type='contact'>
<contact>
<collision>box_collision</collision>
</contact>
</sensor>
</link>
</model>
</sdf>