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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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175
pulley_part/meshes/pulley.dae Executable file
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pulley_part/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Pulley Part</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 hypothetical pulley part that might exist in an industrial manufacturing setting.
</description>
</model>

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pulley_part/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="pulley_part">
<link name="link">
<inertial>
<pose>0 0 0.035145 0 0 0</pose>
<mass>0.5</mass>
<inertia>
<ixx>0.00191581703</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00191581703</iyy>
<iyz>0</iyz>
<izz>0.0034199104</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0.035145 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.11696</radius>
<length>0.07029</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://pulley_part/meshes/pulley.dae</uri>
</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>