File size: 2,480 Bytes
6726ce8 | 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 | <?xml version="1.0"?>
<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/microphone.glb (sha256 c103f5d49ee560e9eb661cfb27aded1733ff64d9da69a3877497741d239a0d5e). -->
<robot name="atech_microphone">
<!-- Atech module microphone (I2S MEMS Microphone (ICS-43434)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame. -->
<link name="atech_microphone">
<inertial>
<origin xyz="0 0 0.00542" rpy="0 0 0"/>
<mass value="0.012"/>
<inertia ixx="4.977556e-07" ixy="0" ixz="0" iyy="1.6777556e-06" iyz="0" izz="1.9405e-06"/>
</inertial>
<visual name="atech_microphone_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_microphone/black.stl"/></geometry>
<material name="atech_microphone_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_microphone_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_microphone/black_m.stl"/></geometry>
<material name="atech_microphone_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_microphone_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_microphone/gold.stl"/></geometry>
<material name="atech_microphone_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_microphone_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_microphone/pcb.stl"/></geometry>
<material name="atech_microphone_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<collision name="atech_microphone_body_collision">
<origin xyz="0 0 0.00542" rpy="0 0 0"/>
<geometry><box size="0.0395 0.0195 0.01084"/></geometry>
</collision>
</link>
<link name="atech_microphone_connector"/>
<joint name="atech_microphone_connector_joint" type="fixed">
<parent link="atech_microphone"/>
<child link="atech_microphone_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_microphone_sensor"/>
<joint name="atech_microphone_sensor_joint" type="fixed">
<parent link="atech_microphone"/>
<child link="atech_microphone_sensor"/>
<origin xyz="0 0 0.01084" rpy="0 0 0"/>
</joint>
</robot>
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