Datasets:

atechdev
/

atech-module-simready

<?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>

	<?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>