File size: 3,186 Bytes
ada4d62 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | <mujoco model="atech_camera">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" gravity="0 0 -9.81"/>
<custom>
<text name="atech:asset_type" data="module"/>
<text name="atech:id" data="camera"/>
<text name="atech:name" data="Camera"/>
<text name="atech:category" data="sensor"/>
<text name="atech:catalog_version" data="1.0.0a11"/>
<text name="atech:placeholders" data="mass_kg,colors,connector,physics_material"/>
<text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/camera.glb"/>
<text name="atech:visual:sha256" data="fbdc2194099c6eab24df9deb26dcd1d9bd19373c69f13f23e2610fd963fee874"/>
</custom>
<asset>
<mesh name="atech_camera_amber_cad_mesh" file="meshes/atech_camera/amber.stl" inertia="shell"/>
<mesh name="atech_camera_black_cad_mesh" file="meshes/atech_camera/black.stl" inertia="shell"/>
<mesh name="atech_camera_black_m_cad_mesh" file="meshes/atech_camera/black_m.stl" inertia="shell"/>
<mesh name="atech_camera_gloss_cad_mesh" file="meshes/atech_camera/gloss.stl" inertia="shell"/>
<mesh name="atech_camera_gold_cad_mesh" file="meshes/atech_camera/gold.stl" inertia="shell"/>
<mesh name="atech_camera_pcb_cad_mesh" file="meshes/atech_camera/pcb.stl" inertia="shell"/>
</asset>
<worldbody>
<light name="key_light" pos="0 0 1" dir="0 0 -1"/>
<geom name="floor" type="plane" size="0.5 0.5 0.01" rgba="0.8 0.8 0.8 1"/>
<body name="atech_camera" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module camera (Camera); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_camera_free"/>
<geom name="atech_camera_amber_cad" type="mesh" mesh="atech_camera_amber_cad_mesh" rgba="0.6593 0.395 0.1107 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_camera_black_cad" type="mesh" mesh="atech_camera_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_camera_black_m_cad" type="mesh" mesh="atech_camera_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_camera_gloss_cad" type="mesh" mesh="atech_camera_gloss_cad_mesh" rgba="0 0 0 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_camera_gold_cad" type="mesh" mesh="atech_camera_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_camera_pcb_cad" type="mesh" mesh="atech_camera_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_camera_body" type="box" size="0.01975 0.00985 0.006725" pos="0 0 0.006725" mass="0.0115227355" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_camera_lens" type="box" size="0.00425 0.00425 0.003" pos="-0.00015 0.00011 0.01135" mass="0.000477264454" rgba="0.05 0.05 0.06 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_camera_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
</body>
</worldbody>
</mujoco>
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