64 lines
1.6 KiB
Plaintext
64 lines
1.6 KiB
Plaintext
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<?xml version="1.0" ?>
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<sdf version="1.6">
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<model name="u_joint_part">
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<pose>0 0 0.07929 1.5707 0 0</pose>
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<link name="link">
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<inertial>
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<pose>0 0 0.08086 0 0 0</pose>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.00187558627</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.00187558627</iyy>
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<iyz>0</iyz>
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<izz>0.00157172602</izz>
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</inertia>
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</inertial>
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<collision name="collision1">
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<pose>0 0 0.08086 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.07929</radius>
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<length>0.16172</length>
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</cylinder>
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</geometry>
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</collision>
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<collision name="collision2">
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<pose>-0.09124 0 0.22804 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01716 0.08862 0.13878</size>
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</box>
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</geometry>
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</collision>
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<collision name="collision3">
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<pose>0.09124 0 0.22804 0 0 0</pose>
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<geometry>
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<box>
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<size>0.01716 0.08862 0.13878</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh>
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<uri>model://u_joint_part/meshes/u_joint.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<uri>model://arm_part/materials/scripts</uri>
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<uri>model://arm_part/materials/textures</uri>
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<name>ArmPart/Diffuse</name>
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</script>
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</material>
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</visual>
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</link>
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</model>
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</sdf>
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