A simple question on changing bounce properties

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There's 3 parameters that must be set to enable bouncing. restitution_coefficient must be greater than 0, the bounce threshold must be small, and max_vel must be greater than zero.

Gazebo computes the relative velocity between two bodies in contact. If the relative velocity normal to the contact surface is greater than the bounce threshold, then a bounce may occur, but the bounce velocity will be limited by the max_vel parameter.

Here's an example sdf file that works in gazebo 1.3:

<?xml version="1.0" ?>
<sdf version="1.3">
  <world name="default">
    <include><uri>model://ground_plane</uri></include>
    <include><uri>model://sun</uri></include>
    <model name="ball">
      <pose>0 0 10.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <surface>
            <bounce>
              <restitution_coefficient>0.5</restitution_coefficient>
              <threshold>0</threshold>
            </bounce>
            <contact>
              <ode>
                <max_vel>10</max_vel>
              </ode>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>