File size: 4,053 Bytes
41e7dab 7fa0e33 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 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | <?xml version="1.0"?>
<!-- Visual meshes: derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module (sha256 71889c765f7c35f7f0565418c32f4ab04d7dce345dca126f6d29d83a9282c40d). -->
<robot name="atech_stepper_motor">
<!-- Atech module stepper_motor (Stepper Motor Driver (NEMA 17 / TMC2209)); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, actuator.frame. -->
<link name="atech_stepper_motor">
<inertial>
<origin xyz="0.00048582996 0 0.00529741514" rpy="0 0 0"/>
<mass value="0.018"/>
<inertia ixx="7.32693182e-07" ixy="0" ixz="-6.29861672e-08" iyy="2.54405659e-06" iyz="0" izz="2.91019889e-06"/>
</inertial>
<visual name="atech_stepper_motor_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/black.stl"/></geometry>
<material name="atech_stepper_motor_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_stepper_motor_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/black_m.stl"/></geometry>
<material name="atech_stepper_motor_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_stepper_motor_glass_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/glass.stl"/></geometry>
<material name="atech_stepper_motor_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
</visual>
<visual name="atech_stepper_motor_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/gold.stl"/></geometry>
<material name="atech_stepper_motor_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_stepper_motor_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/pcb.stl"/></geometry>
<material name="atech_stepper_motor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<visual name="atech_stepper_motor_derived_driver_chip_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/derived_driver_chip.stl"/></geometry>
<material name="atech_stepper_motor_derived_driver_chip_cad_material"><color rgba="0.18 0.18 0.18 1"/></material>
</visual>
<visual name="atech_stepper_motor_derived_motor_terminal_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_stepper_motor/derived_motor_terminal.stl"/></geometry>
<material name="atech_stepper_motor_derived_motor_terminal_cad_material"><color rgba="0.85 0.85 0.8 1"/></material>
</visual>
<collision name="atech_stepper_motor_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_stepper_motor_driver_chip_collision">
<origin xyz="0 0 0.0105" rpy="0 0 0"/>
<geometry><box size="0.005 0.005 0.001"/></geometry>
</collision>
<collision name="atech_stepper_motor_motor_terminal_collision">
<origin xyz="0.013 0 0.0125" rpy="0 0 0"/>
<geometry><box size="0.01 0.006 0.005"/></geometry>
</collision>
</link>
<link name="atech_stepper_motor_connector"/>
<joint name="atech_stepper_motor_connector_joint" type="fixed">
<parent link="atech_stepper_motor"/>
<child link="atech_stepper_motor_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_stepper_motor_actuator"/>
<joint name="atech_stepper_motor_actuator_joint" type="fixed">
<parent link="atech_stepper_motor"/>
<child link="atech_stepper_motor_actuator"/>
<origin xyz="0 0 0.0105" rpy="0 0 0"/>
</joint>
</robot>
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