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41e7dab | 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 | <?xml version="1.0"?>
<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/speaker.glb (sha256 ed97612474860e9671b7a2dfff6f6bc6b43f208d8c82344dde986d15310b3f16). -->
<robot name="atech_speaker">
<!-- Atech module speaker (I2S Speaker (MAX98357A)); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, actuator.frame. -->
<link name="atech_speaker">
<inertial>
<origin xyz="0 0.010175 0.0101" rpy="0 0 0"/>
<mass value="0.02"/>
<inertia ixx="3.32677083e-06" ixy="0" ixz="0" iyy="3.34673333e-06" iyz="-2.3509887e-38" izz="5.31337083e-06"/>
</inertial>
<visual name="atech_speaker_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_speaker/black.stl"/></geometry>
<material name="atech_speaker_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_speaker_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_speaker/black_m.stl"/></geometry>
<material name="atech_speaker_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_speaker_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_speaker/gold.stl"/></geometry>
<material name="atech_speaker_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_speaker_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_speaker/pcb.stl"/></geometry>
<material name="atech_speaker_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<collision name="atech_speaker_body_collision">
<origin xyz="0 0 0.0101" rpy="0 0 0"/>
<geometry><box size="0.04 0.0195 0.0202"/></geometry>
</collision>
<collision name="atech_speaker_enclosure_overhang_collision">
<origin xyz="0 0.019925 0.0101" rpy="0 0 0"/>
<geometry><box size="0.04 0.02035 0.0202"/></geometry>
</collision>
</link>
<link name="atech_speaker_connector"/>
<joint name="atech_speaker_connector_joint" type="fixed">
<parent link="atech_speaker"/>
<child link="atech_speaker_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_speaker_actuator"/>
<joint name="atech_speaker_actuator_joint" type="fixed">
<parent link="atech_speaker"/>
<child link="atech_speaker_actuator"/>
<origin xyz="0 0.0101 0.0202" rpy="0 0 0"/>
</joint>
</robot>
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