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atech-module-simready / atech_soil_sensor /urdf /atech_soil_sensor.urdf
davidstalmarck's picture
davidstalmarck
Soil sensor: one probe PCB, prongs and pads with round tips, after Atech's renders
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<?xml version="1.0"?>
<!-- Visual meshes: derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_bridge, probe_left, probe_right, pad_left, pad_right, coprocessor, status_led, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module (sha256 08996b87f0e6e52587d9ab622f560a11d140d91f8f03b670516056a77f129ab1). -->
<robot name="atech_soil_sensor">
<!-- Atech module soil_sensor (Soil Sensor); atech 1.0.0a11. Placeholder fields: size_m, mass_kg, colors, parts, connector, physics_material. -->
<link name="atech_soil_sensor">
<inertial>
<origin xyz="-4.27753386e-06 0.00771915176 0.0046151096" rpy="0 0 0"/>
<mass value="0.009"/>
<inertia ixx="2.50136406e-06" ixy="-4.68195755e-10" ixz="8.58344171e-13" iyy="3.39917423e-07" iyz="8.74318475e-08" izz="2.71696944e-06"/>
</inertial>
<visual name="atech_soil_sensor_black_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/black.stl"/></geometry>
<material name="atech_soil_sensor_black_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<visual name="atech_soil_sensor_black_m_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/black_m.stl"/></geometry>
<material name="atech_soil_sensor_black_m_cad_material"><color rgba="0.0849 0.0849 0.0849 1"/></material>
</visual>
<visual name="atech_soil_sensor_glass_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/glass.stl"/></geometry>
<material name="atech_soil_sensor_glass_cad_material"><color rgba="0.9352 0.9538 0.9683 0.4196"/></material>
</visual>
<visual name="atech_soil_sensor_gold_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/gold.stl"/></geometry>
<material name="atech_soil_sensor_gold_cad_material"><color rgba="0.721 0.6026 0.2864 1"/></material>
</visual>
<visual name="atech_soil_sensor_grey_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/grey.stl"/></geometry>
<material name="atech_soil_sensor_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
</visual>
<visual name="atech_soil_sensor_pcb_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/pcb.stl"/></geometry>
<material name="atech_soil_sensor_pcb_cad_material"><color rgba="0.0498 0.1107 0.2069 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_probe_bridge_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_bridge.stl"/></geometry>
<material name="atech_soil_sensor_derived_probe_bridge_cad_material"><color rgba="0.07 0.07 0.08 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_probe_left_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_left.stl"/></geometry>
<material name="atech_soil_sensor_derived_probe_left_cad_material"><color rgba="0.07 0.07 0.08 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_probe_right_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_probe_right.stl"/></geometry>
<material name="atech_soil_sensor_derived_probe_right_cad_material"><color rgba="0.07 0.07 0.08 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_pad_left_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_pad_left.stl"/></geometry>
<material name="atech_soil_sensor_derived_pad_left_cad_material"><color rgba="0.72 0.64 0.47 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_pad_right_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_pad_right.stl"/></geometry>
<material name="atech_soil_sensor_derived_pad_right_cad_material"><color rgba="0.72 0.64 0.47 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_coprocessor_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_coprocessor.stl"/></geometry>
<material name="atech_soil_sensor_derived_coprocessor_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_status_led_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_status_led.stl"/></geometry>
<material name="atech_soil_sensor_derived_status_led_cad_material"><color rgba="0.85 0.85 0.83 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_passive_1_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_1.stl"/></geometry>
<material name="atech_soil_sensor_derived_passive_1_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_passive_2_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_2.stl"/></geometry>
<material name="atech_soil_sensor_derived_passive_2_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_passive_3_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_3.stl"/></geometry>
<material name="atech_soil_sensor_derived_passive_3_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<visual name="atech_soil_sensor_derived_passive_4_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_soil_sensor/derived_passive_4.stl"/></geometry>
<material name="atech_soil_sensor_derived_passive_4_cad_material"><color rgba="0.75 0.75 0.73 1"/></material>
</visual>
<collision name="atech_soil_sensor_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_soil_sensor_probe_bridge_collision">
<origin xyz="0 0.00975 0.00334" rpy="0 0 0"/>
<geometry><box size="0.0168 0.0015 0.0016"/></geometry>
</collision>
<collision name="atech_soil_sensor_probe_left_collision">
<origin xyz="-0.00495 0.033875 0.00334" rpy="0 0 0"/>
<geometry><box size="0.0069 0.04975 0.0016"/></geometry>
</collision>
<collision name="atech_soil_sensor_probe_right_collision">
<origin xyz="0.00495 0.033875 0.00334" rpy="0 0 0"/>
<geometry><box size="0.0069 0.04975 0.0016"/></geometry>
</collision>
<collision name="atech_soil_sensor_pad_left_collision">
<origin xyz="-0.00495 0.0341 0.004165" rpy="0 0 0"/>
<geometry><box size="0.0051 0.0476 5e-05"/></geometry>
</collision>
<collision name="atech_soil_sensor_pad_right_collision">
<origin xyz="0.00495 0.0341 0.004165" rpy="0 0 0"/>
<geometry><box size="0.0051 0.0476 5e-05"/></geometry>
</collision>
<collision name="atech_soil_sensor_coprocessor_collision">
<origin xyz="-0.004 -0.0045 0.00459" rpy="0 0 0"/>
<geometry><box size="0.003 0.0025 0.0009"/></geometry>
</collision>
<collision name="atech_soil_sensor_status_led_collision">
<origin xyz="0.0055 -0.0055 0.00444" rpy="0 0 0"/>
<geometry><box size="0.0016 0.0008 0.0006"/></geometry>
</collision>
<collision name="atech_soil_sensor_passive_1_collision">
<origin xyz="-0.0005 -0.0055 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_soil_sensor_passive_2_collision">
<origin xyz="-0.0005 -0.0035 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_soil_sensor_passive_3_collision">
<origin xyz="0.0025 -0.0045 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
<collision name="atech_soil_sensor_passive_4_collision">
<origin xyz="0.006 -0.002 0.00434" rpy="0 0 0"/>
<geometry><box size="0.001 0.0005 0.0004"/></geometry>
</collision>
</link>
<link name="atech_soil_sensor_connector"/>
<joint name="atech_soil_sensor_connector_joint" type="fixed">
<parent link="atech_soil_sensor"/>
<child link="atech_soil_sensor_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>