File size: 3,375 Bytes
6726ce8 | 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 41 | <mujoco model="atech_dc_motor">
<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="dc_motor"/>
<text name="atech:name" data="DC Motor"/>
<text name="atech:category" data="motor"/>
<text name="atech:catalog_version" data="1.0.0a11"/>
<text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/>
<text name="atech:interface" data="gpio"/>
<text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/dc-motor.glb"/>
<text name="atech:visual:sha256" data="3af9463fc094230e037bf555fa394920def050d70a4d73a06ef1f37b3759e8dd"/>
</custom>
<asset>
<mesh name="atech_dc_motor_black_cad_mesh" file="meshes/atech_dc_motor/black.stl" inertia="shell"/>
<mesh name="atech_dc_motor_black_m_cad_mesh" file="meshes/atech_dc_motor/black_m.stl" inertia="shell"/>
<mesh name="atech_dc_motor_gold_cad_mesh" file="meshes/atech_dc_motor/gold.stl" inertia="shell"/>
<mesh name="atech_dc_motor_grey_cad_mesh" file="meshes/atech_dc_motor/grey.stl" inertia="shell"/>
<mesh name="atech_dc_motor_pcb_cad_mesh" file="meshes/atech_dc_motor/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_dc_motor" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module dc_motor (DC Motor); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_dc_motor_free"/>
<geom name="atech_dc_motor_black_cad" type="mesh" mesh="atech_dc_motor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_dc_motor_black_m_cad" type="mesh" mesh="atech_dc_motor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_dc_motor_gold_cad" type="mesh" mesh="atech_dc_motor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_dc_motor_grey_cad" type="mesh" mesh="atech_dc_motor_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_dc_motor_pcb_cad" type="mesh" mesh="atech_dc_motor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_dc_motor_body" type="box" size="0.00975 0.00975 0.00957" pos="0 0 0.00957" mass="0.00391839672" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_dc_motor_motor_housing" type="box" size="0.00975 0.01005 0.00957" pos="0 0.0198 0.00957" mass="0.00403896277" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_dc_motor_motor_shaft" type="box" size="0.0015 0.0044 0.0015" pos="-0.00015 0.03425 0.01014" mass="4.26405138e-05" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_dc_motor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
<site name="atech_dc_motor_actuator" pos="0 0 0.00957" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
</body>
</worldbody>
</mujoco>
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