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atech-module-simready / atech_rotary_encoder /urdf /atech_rotary_encoder.urdf
davidstalmarck's picture
davidstalmarck
Atech module and board SimReady packages (USD, MJCF, URDF) (part 2)
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<?xml version="1.0"?>
<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/knob.glb (sha256 a55efd7f6a4f372ab6f6bd3ef8d7635ef9540f1ec003f35c7f7368b3eee92465). -->
<robot name="atech_rotary_encoder">
<!-- Atech module rotary_encoder (Rotary Encoder Knob); atech 1.0.0a11. Placeholder fields: mass_kg, colors, connector, physics_material, sensor.frame, actuator.frame. -->
<link name="atech_rotary_encoder">
<inertial>
<origin xyz="-3.08631594e-05 0.0100602877 0.00892373634" rpy="0 0 0"/>
<mass value="0.02"/>
<inertia ixx="3.71775036e-06" ixy="2.45129287e-11" ixz="9.34923101e-09" iyy="3.70734493e-06" iyz="-3.11641034e-09" izz="4.24005364e-06"/>
</inertial>
<visual name="atech_rotary_encoder_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/black.stl"/></geometry>
<material name="atech_rotary_encoder_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_rotary_encoder_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/black_m.stl"/></geometry>
<material name="atech_rotary_encoder_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_rotary_encoder_glass_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/glass.stl"/></geometry>
<material name="atech_rotary_encoder_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
</visual>
<visual name="atech_rotary_encoder_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/gold.stl"/></geometry>
<material name="atech_rotary_encoder_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_rotary_encoder_grey_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/grey.stl"/></geometry>
<material name="atech_rotary_encoder_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
</visual>
<visual name="atech_rotary_encoder_led_ring_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/led_ring.stl"/></geometry>
<material name="atech_rotary_encoder_led_ring_cad_material"><color rgba="0.9574 0.9445 0.918 1"/></material>
</visual>
<visual name="atech_rotary_encoder_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/pcb.stl"/></geometry>
<material name="atech_rotary_encoder_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<visual name="atech_rotary_encoder_satin_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_rotary_encoder/satin.stl"/></geometry>
<material name="atech_rotary_encoder_satin_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<collision name="atech_rotary_encoder_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_rotary_encoder_base_overhang_collision">
<origin xyz="0 0.0198 0.005" rpy="0 0 0"/>
<geometry><box size="0.0395 0.0201 0.01"/></geometry>
</collision>
<collision name="atech_rotary_encoder_knob_collision">
<origin xyz="-0.00015 0.0101 0.02407" rpy="0 0 0"/>
<geometry><box size="0.012 0.012 0.02814"/></geometry>
</collision>
</link>
<link name="atech_rotary_encoder_connector"/>
<joint name="atech_rotary_encoder_connector_joint" type="fixed">
<parent link="atech_rotary_encoder"/>
<child link="atech_rotary_encoder_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_rotary_encoder_sensor"/>
<joint name="atech_rotary_encoder_sensor_joint" type="fixed">
<parent link="atech_rotary_encoder"/>
<child link="atech_rotary_encoder_sensor"/>
<origin xyz="-0.00015 0.0101 0.03814" rpy="0 0 0"/>
</joint>
<link name="atech_rotary_encoder_actuator"/>
<joint name="atech_rotary_encoder_actuator_joint" type="fixed">
<parent link="atech_rotary_encoder"/>
<child link="atech_rotary_encoder_actuator"/>
<origin xyz="-0.00015 0.01005 0.00498" rpy="0 0 0"/>
</joint>
</robot>