Hugging Face's logo

Datasets:
atechdev
/
atech-module-simready

Modalities:
3D
Image
Size:
< 1K
Tags:
simulation
robotics
usd
simready
isaac-sim
mujoco
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
1
atech-module-simready / atech_board_10port /urdf /atech_board_10port.urdf
davidstalmarck's picture
davidstalmarck
Atech module and board SimReady packages (USD, MJCF, URDF)
6726ce8 verified
Raw History Blame Contribute Delete
6.99 kB
<?xml version="1.0"?>
<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/motherboard-10port.glb (sha256 3cbcf0e801e772ab2d6e4d7d124f96e575aca79a037a99f8bdf0a10ebdd3cde6). -->
<robot name="atech_board_10port">
<!-- Atech board 10port (Atech 10-Port Board); atech 1.0.0a11. Placeholder fields: mass_kg, colors, parts, connector, physics_material, ports. -->
<link name="atech_board_10port">
<inertial>
<origin xyz="2.46899432e-05 8.56601758e-06 0.0036075176" rpy="0 0 0"/>
<mass value="0.03"/>
<inertia ixx="9.28538818e-06" ixy="2.29861114e-09" ixz="-2.91880566e-10" iyy="4.07673373e-06" iyz="-3.39278089e-09" izz="1.31158829e-05"/>
</inertial>
<visual name="atech_board_10port_board_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_10port/board.stl"/></geometry>
<material name="atech_board_10port_board_cad_material"><color rgba="0.1318 0.1318 0.15 1"/></material>
</visual>
<visual name="atech_board_10port_grey_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_10port/grey.stl"/></geometry>
<material name="atech_board_10port_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
</visual>
<visual name="atech_board_10port_satin_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_10port/satin.stl"/></geometry>
<material name="atech_board_10port_satin_cad_material"><color rgba="0.2402 0.2402 0.269 1"/></material>
</visual>
<visual name="atech_board_10port_socket_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_10port/socket.stl"/></geometry>
<material name="atech_board_10port_socket_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<collision name="atech_board_10port_body_collision">
<origin xyz="0 0 0.003555" rpy="0 0 0"/>
<geometry><box size="0.04 0.06 0.00711"/></geometry>
</collision>
<collision name="atech_board_10port_port_1_slot_collision">
<origin xyz="-0.0093 0.02 0.00541" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_2_slot_collision">
<origin xyz="-0.0093 0 0.00541" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_3_slot_collision">
<origin xyz="-0.0093 -0.02 0.00541" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_4_slot_collision">
<origin xyz="0.0093 -0.02 0.00541" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_5_slot_collision">
<origin xyz="0.0093 0 0.00541" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_6_slot_collision">
<origin xyz="0.0093 0.02 0.00541" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_7_slot_collision">
<origin xyz="-0.00892 0.0196 0.00241" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_8_slot_collision">
<origin xyz="0.00892 0.0196 0.00241" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_port_9_slot_collision">
<origin xyz="0.00892 -0.0196 0.00241" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_10port_usb_c_collision">
<origin xyz="-0.00892 -0.028 0.0016" rpy="0 0 0"/>
<geometry><box size="0.009 0.0035 0.0032"/></geometry>
</collision>
</link>
<link name="atech_board_10port_connector"/>
<joint name="atech_board_10port_connector_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_board_10port_port_1"/>
<joint name="atech_board_10port_port_1_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_1"/>
<origin xyz="-0.0093 0.02 0.00521" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_10port_port_2"/>
<joint name="atech_board_10port_port_2_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_2"/>
<origin xyz="-0.0093 0 0.00521" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_10port_port_3"/>
<joint name="atech_board_10port_port_3_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_3"/>
<origin xyz="-0.0093 -0.02 0.00521" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_10port_port_4"/>
<joint name="atech_board_10port_port_4_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_4"/>
<origin xyz="0.0093 -0.02 0.00521" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_10port_port_5"/>
<joint name="atech_board_10port_port_5_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_5"/>
<origin xyz="0.0093 0 0.00521" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_10port_port_6"/>
<joint name="atech_board_10port_port_6_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_6"/>
<origin xyz="0.0093 0.02 0.00521" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_10port_port_7"/>
<joint name="atech_board_10port_port_7_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_7"/>
<origin xyz="-0.00892 0.0196 0.00261" rpy="3.14159265 0 3.14159265"/>
</joint>
<link name="atech_board_10port_port_8"/>
<joint name="atech_board_10port_port_8_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_8"/>
<origin xyz="0.00892 0.0196 0.00261" rpy="3.14159265 0 3.14159265"/>
</joint>
<link name="atech_board_10port_port_9"/>
<joint name="atech_board_10port_port_9_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_9"/>
<origin xyz="0.00892 -0.0196 0.00261" rpy="3.14159265 0 0"/>
</joint>
<link name="atech_board_10port_port_10"/>
<joint name="atech_board_10port_port_10_joint" type="fixed">
<parent link="atech_board_10port"/>
<child link="atech_board_10port_port_10"/>
<origin xyz="-0.00892 -0.0196 0.00261" rpy="3.14159265 0 0"/>
</joint>
</robot>