File size: 6,879 Bytes
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<!-- Visual meshes: derived: shell of screen.glb (Atech CAD) + sim.yaml parts (jack_body, jack_barrel, jack_socket, regulator, controller, passive_1, passive_2, passive_3); not Atech CAD of this module (sha256 f94042bad2da4d3fb627ed46b0df5a25550abffaccd27517969c2998d7efa859). -->
<robot name="atech_power_jack">
<!-- Atech module power_jack (Power Jack); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
<link name="atech_power_jack">
<inertial>
<origin xyz="0.00128194175 -1.03189994e-05 0.00518245023" rpy="0 0 0"/>
<mass value="0.012"/>
<inertia ixx="4.55086542e-07" ixy="8.79706894e-10" ixz="-3.14899917e-08" iyy="1.75538287e-06" iyz="-2.19092567e-11" izz="2.01189597e-06"/>
</inertial>
<visual name="atech_power_jack_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/black.stl"/></geometry>
<material name="atech_power_jack_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_power_jack_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/black_m.stl"/></geometry>
<material name="atech_power_jack_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_power_jack_glass_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/glass.stl"/></geometry>
<material name="atech_power_jack_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
</visual>
<visual name="atech_power_jack_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/gold.stl"/></geometry>
<material name="atech_power_jack_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_power_jack_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/pcb.stl"/></geometry>
<material name="atech_power_jack_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<visual name="atech_power_jack_derived_jack_body_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_jack_body.stl"/></geometry>
<material name="atech_power_jack_derived_jack_body_cad_material"><color rgba="0.2 0.2 0.21 1"/></material>
</visual>
<visual name="atech_power_jack_derived_jack_barrel_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_jack_barrel.stl"/></geometry>
<material name="atech_power_jack_derived_jack_barrel_cad_material"><color rgba="0.2 0.2 0.21 1"/></material>
</visual>
<visual name="atech_power_jack_derived_jack_socket_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_jack_socket.stl"/></geometry>
<material name="atech_power_jack_derived_jack_socket_cad_material"><color rgba="0.02 0.02 0.02 1"/></material>
</visual>
<visual name="atech_power_jack_derived_regulator_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_regulator.stl"/></geometry>
<material name="atech_power_jack_derived_regulator_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
</visual>
<visual name="atech_power_jack_derived_controller_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_controller.stl"/></geometry>
<material name="atech_power_jack_derived_controller_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
</visual>
<visual name="atech_power_jack_derived_passive_1_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_passive_1.stl"/></geometry>
<material name="atech_power_jack_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_power_jack_derived_passive_2_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_passive_2.stl"/></geometry>
<material name="atech_power_jack_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_power_jack_derived_passive_3_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_power_jack/derived_passive_3.stl"/></geometry>
<material name="atech_power_jack_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<collision name="atech_power_jack_body_collision">
<origin xyz="0 0 0.005" rpy="0 0 0"/>
<geometry><box size="0.0395 0.0195 0.01"/></geometry>
</collision>
<collision name="atech_power_jack_jack_body_collision">
<origin xyz="0.0145 0 0.00724" rpy="0 0 0"/>
<geometry><box size="0.009 0.01 0.0062"/></geometry>
</collision>
<collision name="atech_power_jack_jack_barrel_collision">
<origin xyz="0.0201 0 0.00724" rpy="0 0 0"/>
<geometry><box size="0.0022 0.0075 0.0075"/></geometry>
</collision>
<collision name="atech_power_jack_jack_socket_collision">
<origin xyz="0.0214 0 0.00724" rpy="0 0 0"/>
<geometry><box size="0.0004 0.0045 0.0045"/></geometry>
</collision>
<collision name="atech_power_jack_regulator_collision">
<origin xyz="0.004 -0.004 0.00489" rpy="0 0 0"/>
<geometry><box size="0.005 0.004 0.0015"/></geometry>
</collision>
<collision name="atech_power_jack_controller_collision">
<origin xyz="-0.008 0.004 0.00459" rpy="0 0 0"/>
<geometry><box size="0.003 0.003 0.0009"/></geometry>
</collision>
<collision name="atech_power_jack_passive_1_collision">
<origin xyz="-0.002 -0.004 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_power_jack_passive_2_collision">
<origin xyz="0 0.002 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_power_jack_passive_3_collision">
<origin xyz="0.008 0.005 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
</link>
<link name="atech_power_jack_connector"/>
<joint name="atech_power_jack_connector_joint" type="fixed">
<parent link="atech_power_jack"/>
<child link="atech_power_jack_connector"/>
<origin xyz="-0.01 0 0" rpy="0 0 0"/>
</joint>
</robot>
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