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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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car_wheel/materials/textures/car_wheel.png Executable file
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car_wheel/meshes/car_wheel.dae Executable file
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car_wheel/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Car Wheel</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>
<author>
<name>Cole Biesemeyer</name>
</author>
<description>
A car wheel.
</description>
</model>

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car_wheel/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="car_wheel">
<link name="link">
<pose>0 0 0.21682 0 1.5707 0</pose>
<inertial>
<mass>12</mass>
<inertia>
<ixx>0.167005283</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.167005283</iyy>
<iyz>0</iyz>
<izz>0.282065474</izz>
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.21682</radius>
<length>0.16116</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
<fdir1>0 0 1</fdir1>
<slip1>0.0</slip1>
<slip2>0.0</slip2>
</ode>
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
<kp>1e8</kp>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<pose>0 0 -0.08058 0 0 0</pose>
<geometry>
<mesh>
<uri>model://car_wheel/meshes/car_wheel.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>