model.sdf

<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="cross_joint_part">
    <link name="link">
      <inertial>
        <pose>0 0 0.048275 0 0 0</pose>
        <mass>0.5</mass>
        <inertia>
          <ixx>0.0045543476</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0045543476</iyy>
          <iyz>0</iyz>
          <izz>0.00833187</izz>
        </inertia>
      </inertial>

      <collision name="collisionY">
        <pose>0 0 0.048275 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <length>0.3162</length>
            <radius>0.04830</radius>
          </cylinder>
        </geometry>
      </collision>

      <collision name="collisionX">
        <pose>0 0 0.048275 0 1.5707 0</pose>
        <geometry>
          <cylinder>
            <length>0.3162</length>
            <radius>0.04830</radius>
          </cylinder>
        </geometry>
      </collision>


      <visual name="visual">
         <geometry>
           <mesh>
             <uri>model://cross_joint_part/meshes/cross_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>