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<!-- Visual meshes: derived: shell of button.glb (Atech CAD) + sim.yaml parts (lens_collar, lens_dome, passive_1, passive_2); not Atech CAD of this module (sha256 c40db3493eb9e23c357fa4fba181e95492ac1c97a8592874d4d8012d8ee719f6). -->
<robot name="atech_pir">
<!-- Atech module pir (PIR Motion Sensor (AM312)); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, sensor.frame. -->
<link name="atech_pir">
<inertial>
<origin xyz="0 4.2422989e-08 0.0058061959" rpy="0 0 0"/>
<mass value="0.007"/>
<inertia ixx="2.66476786e-07" ixy="8.07733711e-12" ixz="0" iyy="2.66501762e-07" iyz="4.35402889e-13" izz="3.7820131e-07"/>
</inertial>
<visual name="atech_pir_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/black.stl"/></geometry>
<material name="atech_pir_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_pir_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/black_m.stl"/></geometry>
<material name="atech_pir_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_pir_glass_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/glass.stl"/></geometry>
<material name="atech_pir_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
</visual>
<visual name="atech_pir_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/gold.stl"/></geometry>
<material name="atech_pir_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_pir_grey_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/grey.stl"/></geometry>
<material name="atech_pir_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
</visual>
<visual name="atech_pir_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/pcb.stl"/></geometry>
<material name="atech_pir_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<visual name="atech_pir_derived_lens_collar_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/derived_lens_collar.stl"/></geometry>
<material name="atech_pir_derived_lens_collar_cad_material"><color rgba="0.82 0.82 0.8 1"/></material>
</visual>
<visual name="atech_pir_derived_lens_dome_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/derived_lens_dome.stl"/></geometry>
<material name="atech_pir_derived_lens_dome_cad_material"><color rgba="0.95 0.95 0.93 1"/></material>
</visual>
<visual name="atech_pir_derived_passive_1_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/derived_passive_1.stl"/></geometry>
<material name="atech_pir_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_pir_derived_passive_2_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_pir/derived_passive_2.stl"/></geometry>
<material name="atech_pir_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<collision name="atech_pir_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_pir_lens_collar_collision">
<origin xyz="0 0 0.00694" rpy="0 0 0"/>
<geometry><box size="0.0095 0.0095 0.0056"/></geometry>
</collision>
<collision name="atech_pir_lens_dome_collision">
<origin xyz="0 0 0.011945" rpy="0 0 0"/>
<geometry><box size="0.0095 0.0095 0.0045"/></geometry>
</collision>
<collision name="atech_pir_passive_1_collision">
<origin xyz="-0.0068 0.0025 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_pir_passive_2_collision">
<origin xyz="0.0068 -0.0015 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
</link>
<link name="atech_pir_connector"/>
<joint name="atech_pir_connector_joint" type="fixed">
<parent link="atech_pir"/>
<child link="atech_pir_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_pir_sensor"/>
<joint name="atech_pir_sensor_joint" type="fixed">
<parent link="atech_pir"/>
<child link="atech_pir_sensor"/>
<origin xyz="0 0 0.014195" rpy="0 0 0"/>
</joint>
</robot>
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