/usr/share/sdformat/1.3/surface.sdf is in sdformat-sdf 2.0.0-6.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 | <element name="surface" required="0">
<description>The surface parameters</description>
<element name="bounce" required="0">
<description></description>
<element name="restitution_coefficient" type="double" default="0" min="0.0" max="1.0" required="0">
<description>Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.</description>
</element>
<element name="threshold" type="double" default="100000" required="0">
<description>Bounce velocity threshold, below which effective coefficient of restitution is 0.</description>
</element>
</element> <!-- End Bounce -->
<element name="friction" required="0">
<description></description>
<element name="ode" required="0">
<description>ODE friction parameters</description>
<element name="mu" type="double" default="-1" min="0.0" max="1.0" required="0">
<description>Coefficient of friction in the range of [0..1].</description>
</element>
<element name="mu2" type="double" default="-1" min="0.0" max="1.0" required="0">
<description>Second coefficient of friction in the range of [0..1]</description>
</element>
<element name="fdir1" type="vector3" default="0 0 0" required="0">
<description>3-tuple specifying direction of mu1 in the collision local reference frame.</description>
</element>
<element name="slip1" type="double" default="0.0" min="0.0" max="1.0" required="0">
<description>Force dependent slip direction 1 in collision local frame, between the range of [0..1].</description>
</element>
<element name="slip2" type="double" default="0.0" min="0.0" max="1.0" required="0">
<description>Force dependent slip direction 2 in collision local frame, between the range of [0..1].</description>
</element>
</element> <!-- End ODE -->
</element> <!-- End Friction -->
<element name="contact" required="0">
<description></description>
<element name="ode" required="0">
<description>ODE contact parameters</description>
<element name="soft_cfm" type="double" default="0" required="0">
<description>Soft constraint force mixing.</description>
</element>
<element name="soft_erp" type="double" default="0.2" required="0">
<description>Soft error reduction parameter</description>
</element>
<element name="kp" type="double" default="1000000000000.0" required="0">
<description>dynamically "stiffness"-equivalent coefficient for contact joints</description>
</element>
<element name="kd" type="double" default="1.0" required="0">
<description>dynamically "damping"-equivalent coefficient for contact joints</description>
</element>
<element name="max_vel" type="double" default="0.01" required="0">
<description>maximum contact correction velocity truncation term.</description>
</element>
<element name="min_depth" type="double" default="0" required="0">
<description>minimum allowable depth before contact correction impulse is applied</description>
</element>
</element> <!-- End ODE -->
</element> <!-- End Contact -->
</element> <!-- End Surface -->
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