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Quella777
2025-08-25 16:30:02 +08:00
commit 32cc2a8e96
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u_joint_part/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.6">
<model name="u_joint_part">
<pose>0 0 0.07929 1.5707 0 0</pose>
<link name="link">
<inertial>
<pose>0 0 0.08086 0 0 0</pose>
<mass>0.5</mass>
<inertia>
<ixx>0.00187558627</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00187558627</iyy>
<iyz>0</iyz>
<izz>0.00157172602</izz>
</inertia>
</inertial>
<collision name="collision1">
<pose>0 0 0.08086 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.07929</radius>
<length>0.16172</length>
</cylinder>
</geometry>
</collision>
<collision name="collision2">
<pose>-0.09124 0 0.22804 0 0 0</pose>
<geometry>
<box>
<size>0.01716 0.08862 0.13878</size>
</box>
</geometry>
</collision>
<collision name="collision3">
<pose>0.09124 0 0.22804 0 0 0</pose>
<geometry>
<box>
<size>0.01716 0.08862 0.13878</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<mesh>
<uri>model://u_joint_part/meshes/u_joint.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>