8-port board: Atech's CAD (Node 8 Position Motherboard) instead of the derived model; release sources tagged v1.7 (part 2)
7fa0e33 verified | <!-- 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> | |