Quella/gazebo_models
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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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gear_part/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="gear_part">
<link name="link">
<inertial>
<pose>0 0 0.005875 0 0 0</pose>
<mass>0.5</mass>
<inertia>
<ixx>0.00019820251</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00019820251</iyy>
<iyz>0</iyz>
<izz>0.00038440503</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0.005875 0 0 0</pose>
<geometry>
<cylinder>
<length>0.012</length>
<radius>0.0392125</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
</surface>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://gear_part/meshes/gear.dae</uri>
<scale>0.25 0.25 0.25</scale>
</mesh>
</geometry>
<material>
<script>
<uri>model://arm_part/materials/scripts</uri>
<uri>model://arm_part/materials/textures</uri>
<name>ArmPart/Diffuse</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>