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ada4d62 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 | <?xml version="1.0"?>
<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (amplifier, header, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module (sha256 0e1005202f9085d9379dcd72c3d98ec2371258019416215212715a918bc28e02). -->
<robot name="atech_load_cell">
<!-- Atech module load_cell (Load Cell); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
<link name="atech_load_cell">
<inertial>
<origin xyz="9.5738592e-06 3.48483272e-05 0.00499665487" rpy="0 0 0"/>
<mass value="0.007"/>
<inertia ixx="2.78385762e-07" ixy="-5.61754792e-10" ixz="3.66315353e-11" iyy="2.78011462e-07" iyz="9.17548888e-11" izz="4.40951967e-07"/>
</inertial>
<visual name="atech_load_cell_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/black.stl"/></geometry>
<material name="atech_load_cell_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_load_cell_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/black_m.stl"/></geometry>
<material name="atech_load_cell_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_load_cell_glass_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/glass.stl"/></geometry>
<material name="atech_load_cell_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
</visual>
<visual name="atech_load_cell_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/gold.stl"/></geometry>
<material name="atech_load_cell_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_load_cell_grey_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/grey.stl"/></geometry>
<material name="atech_load_cell_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
</visual>
<visual name="atech_load_cell_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/pcb.stl"/></geometry>
<material name="atech_load_cell_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<visual name="atech_load_cell_derived_amplifier_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/derived_amplifier.stl"/></geometry>
<material name="atech_load_cell_derived_amplifier_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
</visual>
<visual name="atech_load_cell_derived_header_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/derived_header.stl"/></geometry>
<material name="atech_load_cell_derived_header_cad_material"><color rgba="0.88 0.88 0.86 1"/></material>
</visual>
<visual name="atech_load_cell_derived_passive_1_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/derived_passive_1.stl"/></geometry>
<material name="atech_load_cell_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_load_cell_derived_passive_2_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/derived_passive_2.stl"/></geometry>
<material name="atech_load_cell_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_load_cell_derived_passive_3_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/derived_passive_3.stl"/></geometry>
<material name="atech_load_cell_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_load_cell_derived_passive_4_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_load_cell/derived_passive_4.stl"/></geometry>
<material name="atech_load_cell_derived_passive_4_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<collision name="atech_load_cell_body_collision">
<origin xyz="0 0 0.005" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.01"/></geometry>
</collision>
<collision name="atech_load_cell_amplifier_collision">
<origin xyz="0.002 0.0045 0.00464" rpy="0 0 0"/>
<geometry><box size="0.009 0.0035 0.001"/></geometry>
</collision>
<collision name="atech_load_cell_header_collision">
<origin xyz="-0.003 -0.001 0.00489" rpy="0 0 0"/>
<geometry><box size="0.0075 0.0008 0.0015"/></geometry>
</collision>
<collision name="atech_load_cell_passive_1_collision">
<origin xyz="-0.004 0.003 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_load_cell_passive_2_collision">
<origin xyz="0 0.0015 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_load_cell_passive_3_collision">
<origin xyz="0.0025 0 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_load_cell_passive_4_collision">
<origin xyz="0.0055 0.0015 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
</link>
<link name="atech_load_cell_connector"/>
<joint name="atech_load_cell_connector_joint" type="fixed">
<parent link="atech_load_cell"/>
<child link="atech_load_cell_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>
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