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simready-assets / atech_board_14port /urdf /atech_board_14port.urdf
davidstalmarck's picture
davidstalmarck
Atech module and board SimReady packages (USD, MJCF, URDF)
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9.34 kB
<?xml version="1.0"?>
<!-- Visual meshes: atechdotdev/atech-module-renders@v1.7 glb_plain/frame-2.glb (sha256 1652e383f760170aa0c4303a2f28f6df42e108063d32e54eb916f7877eb557e5). -->
<robot name="atech_board_14port">
<!-- Atech board 14port (Atech 14-Port Board); atech 1.0.0a11. Placeholder fields: mass_kg, colors, parts, connector, physics_material, ports. -->
<link name="atech_board_14port">
<inertial>
<origin xyz="-2.98093439e-05 6.42390931e-05 0.00349235314" rpy="0 0 0"/>
<mass value="0.06"/>
<inertia ixx="7.27101961e-05" ixy="-1.80005018e-08" ixz="-1.80904728e-09" iyy="1.83768415e-05" iyz="9.8660949e-09" izz="9.06147244e-05"/>
</inertial>
<visual name="atech_board_14port_board_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_14port/board.stl"/></geometry>
<material name="atech_board_14port_board_cad_material"><color rgba="0.1318 0.1318 0.15 1"/></material>
</visual>
<visual name="atech_board_14port_frame_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_14port/frame.stl"/></geometry>
<material name="atech_board_14port_frame_cad_material"><color rgba="0.0498 0.0498 0.0849 1"/></material>
</visual>
<visual name="atech_board_14port_grey_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_14port/grey.stl"/></geometry>
<material name="atech_board_14port_grey_cad_material"><color rgba="0.3525 0.3589 0.3775 1"/></material>
</visual>
<visual name="atech_board_14port_satin_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_14port/satin.stl"/></geometry>
<material name="atech_board_14port_satin_cad_material"><color rgba="0.2402 0.2402 0.269 1"/></material>
</visual>
<visual name="atech_board_14port_silk_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_14port/silk.stl"/></geometry>
<material name="atech_board_14port_silk_cad_material"><color rgba="0.8511 0.8511 0.87 1"/></material>
</visual>
<visual name="atech_board_14port_socket_cad_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry><mesh filename="meshes/atech_board_14port/socket.stl"/></geometry>
<material name="atech_board_14port_socket_cad_material"><color rgba="0.0498 0.0498 0.0498 1"/></material>
</visual>
<collision name="atech_board_14port_body_collision">
<origin xyz="0 0 0.0035" rpy="0 0 0"/>
<geometry><box size="0.06 0.12 0.007"/></geometry>
</collision>
<collision name="atech_board_14port_port_1_slot_collision">
<origin xyz="-0.0195 0.05 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_2_slot_collision">
<origin xyz="-0.0195 0.03 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_3_slot_collision">
<origin xyz="-0.0195 0.01 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_4_slot_collision">
<origin xyz="-0.0195 -0.01 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_5_slot_collision">
<origin xyz="-0.0195 -0.03 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_6_slot_collision">
<origin xyz="-0.0195 -0.05 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_7_slot_collision">
<origin xyz="0 0.05 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_9_slot_collision">
<origin xyz="0.0195 0.05 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_10_slot_collision">
<origin xyz="0.0195 0.03 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_11_slot_collision">
<origin xyz="0.0195 0.01 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_13_slot_collision">
<origin xyz="0.0195 -0.03 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_port_14_slot_collision">
<origin xyz="0.0195 -0.05 0.0032" rpy="0 0 0"/>
<geometry><box size="0.0195 0.0195 0.0004"/></geometry>
</collision>
<collision name="atech_board_14port_usb_c_collision">
<origin xyz="0 -0.05 0.0046" rpy="0 0 0"/>
<geometry><box size="0.009 0.0035 0.0032"/></geometry>
</collision>
<collision name="atech_board_14port_reset_button_collision">
<origin xyz="0.0195 -0.01 0.004" rpy="0 0 0"/>
<geometry><box size="0.006 0.006 0.002"/></geometry>
</collision>
</link>
<link name="atech_board_14port_connector"/>
<joint name="atech_board_14port_connector_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_connector"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="atech_board_14port_port_1"/>
<joint name="atech_board_14port_port_1_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_1"/>
<origin xyz="-0.0195 0.05 0.003" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_14port_port_2"/>
<joint name="atech_board_14port_port_2_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_2"/>
<origin xyz="-0.0195 0.03 0.003" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_14port_port_3"/>
<joint name="atech_board_14port_port_3_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_3"/>
<origin xyz="-0.0195 0.01 0.003" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_14port_port_4"/>
<joint name="atech_board_14port_port_4_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_4"/>
<origin xyz="-0.0195 -0.01 0.003" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_14port_port_5"/>
<joint name="atech_board_14port_port_5_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_5"/>
<origin xyz="-0.0195 -0.03 0.003" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_14port_port_6"/>
<joint name="atech_board_14port_port_6_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_6"/>
<origin xyz="-0.0195 -0.05 0.003" rpy="0 0 1.57079633"/>
</joint>
<link name="atech_board_14port_port_7"/>
<joint name="atech_board_14port_port_7_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_7"/>
<origin xyz="0 0.05 0.003" rpy="0 0 0"/>
</joint>
<link name="atech_board_14port_port_8"/>
<joint name="atech_board_14port_port_8_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_8"/>
<origin xyz="0 -0.05 0.003" rpy="0 0 3.14159265"/>
</joint>
<link name="atech_board_14port_port_9"/>
<joint name="atech_board_14port_port_9_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_9"/>
<origin xyz="0.0195 0.05 0.003" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_14port_port_10"/>
<joint name="atech_board_14port_port_10_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_10"/>
<origin xyz="0.0195 0.03 0.003" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_14port_port_11"/>
<joint name="atech_board_14port_port_11_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_11"/>
<origin xyz="0.0195 0.01 0.003" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_14port_port_12"/>
<joint name="atech_board_14port_port_12_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_12"/>
<origin xyz="0.0195 -0.01 0.003" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_14port_port_13"/>
<joint name="atech_board_14port_port_13_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_13"/>
<origin xyz="0.0195 -0.03 0.003" rpy="0 0 -1.57079633"/>
</joint>
<link name="atech_board_14port_port_14"/>
<joint name="atech_board_14port_port_14_joint" type="fixed">
<parent link="atech_board_14port"/>
<child link="atech_board_14port_port_14"/>
<origin xyz="0.0195 -0.05 0.003" rpy="0 0 -1.57079633"/>
</joint>
</robot>