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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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cordless_drill/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.5">
<model name="drill">
<link name="link">
<inertial>
<pose>-0.00637 -0.008 0.13254 0 0 0</pose>
<inertia>
<ixx>0.01331127</ixx>
<ixy>-0.00030365</ixy>
<ixz>-0.00034148</ixz>
<iyy>0.01157659</iyy>
<iyz>0.00088073</iyz>
<izz>0.00378028</izz>
</inertia>
<mass>1.50251902</mass>
</inertial>
<collision name="collision">
<pose>0 0 -0.09 0 0 0</pose>
<geometry>
<mesh>
<uri>model://cordless_drill/meshes/cordless_drill.stl</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<pose>0 0 -0.09 0 0 0</pose>
<geometry>
<mesh>
<uri>model://cordless_drill/meshes/cordless_drill.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>