CO2, PIR and robot-arm modules: sensors on the PCB through the lid, after Atech's renders; the robot arm's two-cell housing (part 2)
4283f18 verified | <!-- Visual meshes: derived: shell of button.glb (Atech CAD) + sim.yaml parts (sensor_base, sensor_can, passive_1, passive_2, passive_3); not Atech CAD of this module (sha256 511e034be096e0c5cb54c0301b6cac2684751c5fd4cce4cf406dd0cf6c991819). --> | |
| <robot name="atech_scd40_air_quality"> | |
| <!-- Atech module scd40_air_quality (SCD40 Air Quality Sensor (CO2)); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material, sensor.frame. --> | |
| <link name="atech_scd40_air_quality"> | |
| <inertial> | |
| <origin xyz="-3.21399335e-07 9.45292161e-08 0.00521968657" rpy="0 0 0"/> | |
| <mass value="0.008"/> | |
| <inertia ixx="2.98880797e-07" ixy="1.28557303e-11" ixz="-2.26184543e-12" iyy="2.98929727e-07" iyz="6.65248655e-13" izz="4.64926912e-07"/> | |
| </inertial> | |
| <visual name="atech_scd40_air_quality_black_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/black.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_black_m_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/black_m.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_glass_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/glass.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_gold_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/gold.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_grey_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/grey.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_pcb_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/pcb.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_derived_sensor_base_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_sensor_base.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_derived_sensor_base_cad_material"><color rgba="0.78 0.79 0.8 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_derived_sensor_can_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_sensor_can.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_derived_sensor_can_cad_material"><color rgba="0.93 0.93 0.92 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_derived_passive_1_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_passive_1.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_derived_passive_2_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_passive_2.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material> | |
| </visual> | |
| <visual name="atech_scd40_air_quality_derived_passive_3_cad_visual"> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| <geometry><mesh filename="meshes/atech_scd40_air_quality/derived_passive_3.stl"/></geometry> | |
| <material name="atech_scd40_air_quality_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material> | |
| </visual> | |
| <collision name="atech_scd40_air_quality_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_scd40_air_quality_sensor_base_collision"> | |
| <origin xyz="0 0 0.00454" rpy="0 0 0"/> | |
| <geometry><box size="0.0101 0.0101 0.0008"/></geometry> | |
| </collision> | |
| <collision name="atech_scd40_air_quality_sensor_can_collision"> | |
| <origin xyz="0 0 0.00779" rpy="0 0 0"/> | |
| <geometry><box size="0.0078 0.0078 0.0057"/></geometry> | |
| </collision> | |
| <collision name="atech_scd40_air_quality_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_scd40_air_quality_passive_2_collision"> | |
| <origin xyz="-0.0068 0.001 0.00434" rpy="0 0 0"/> | |
| <geometry><box size="0.001 0.0005 0.0004"/></geometry> | |
| </collision> | |
| <collision name="atech_scd40_air_quality_passive_3_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_scd40_air_quality_connector"/> | |
| <joint name="atech_scd40_air_quality_connector_joint" type="fixed"> | |
| <parent link="atech_scd40_air_quality"/> | |
| <child link="atech_scd40_air_quality_connector"/> | |
| <origin xyz="0 0 0" rpy="0 0 0"/> | |
| </joint> | |
| <link name="atech_scd40_air_quality_sensor"/> | |
| <joint name="atech_scd40_air_quality_sensor_joint" type="fixed"> | |
| <parent link="atech_scd40_air_quality"/> | |
| <child link="atech_scd40_air_quality_sensor"/> | |
| <origin xyz="0 0 0.01064" rpy="0 0 0"/> | |
| </joint> | |
| </robot> | |