<?xml version="1.0" ?> <sdf version="1.6"> <model name="disk_part"> <link name="link"> <inertial> <pose>0 0 0.02895 0 0 0</pose> <mass>0.5</mass> <inertia> <ixx>0.0032121798</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.0032121798</iyy> <iyz>0</iyz> <izz>0.0061449921</izz> </inertia> </inertial> <collision name="collision"> <pose>0 0 0.02895 0 0 0</pose> <geometry> <cylinder> <length>0.0579</length> <radius>0.15678</radius> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <mesh> <uri>model://disk_part/meshes/disk.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>