README_adding_part.md

README

This readme can be used to create or add a new part ontop of Suii

#filepath to the part you want to import #filepath to the part you want to import

    #inertial parameters must be containt from solidworks otherwise part will move out of them self
    <mass value= "mass_of_the_part"/>
    <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> 
    <origin xyz="0 0 0"  rpy="0 0 0" />
  </inertial>
</link>

<joint name="${prefix}joint_name" type="joint_type"> 
  <parent link="${prefix}part_name_from_parent" />
  <child link = "${prefix}part_name_from_child" />

  #sets location and rotation of the part you want to import relative to the parent
  <origin xyz="0 0 0" rpy="0 0 0" />
  <axis xyz="0 1 0" /> 
  
  #sets the limit of the joint
  <limit lower="${-1.6}" upper="${0}" effort="54.0" velocity="3.2"/>
   
  <dynamics damping="0.0" friction="0.0"/>  
</joint>