File size: 3,522 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 42 43 44 45 46 | <mujoco model="atech_icm40608">
<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="icm40608"/>
<text name="atech:name" data="6-Axis IMU (ICM-40608 / LSM6DSOX)"/>
<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,sensor.frame"/>
<text name="atech:interface" data="i2c"/>
<text name="atech:i2c_address" data="104"/>
<text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/orientation-sensor.glb"/>
<text name="atech:visual:sha256" data="07b48452eaf04d300934397aaac0e785eed26ea07d5e390b5b9318c1cf9a2f9a"/>
</custom>
<asset>
<mesh name="atech_icm40608_black_cad_mesh" file="meshes/atech_icm40608/black.stl" inertia="shell"/>
<mesh name="atech_icm40608_black_m_cad_mesh" file="meshes/atech_icm40608/black_m.stl" inertia="shell"/>
<mesh name="atech_icm40608_glass_cad_mesh" file="meshes/atech_icm40608/glass.stl" inertia="shell"/>
<mesh name="atech_icm40608_gold_cad_mesh" file="meshes/atech_icm40608/gold.stl" inertia="shell"/>
<mesh name="atech_icm40608_grey_cad_mesh" file="meshes/atech_icm40608/grey.stl" inertia="shell"/>
<mesh name="atech_icm40608_pcb_cad_mesh" file="meshes/atech_icm40608/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_icm40608" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module icm40608 (6-Axis IMU (ICM-40608 / LSM6DSOX)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_icm40608_free"/>
<geom name="atech_icm40608_black_cad" type="mesh" mesh="atech_icm40608_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_icm40608_black_m_cad" type="mesh" mesh="atech_icm40608_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_icm40608_glass_cad" type="mesh" mesh="atech_icm40608_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_icm40608_gold_cad" type="mesh" mesh="atech_icm40608_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_icm40608_grey_cad" type="mesh" mesh="atech_icm40608_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_icm40608_pcb_cad" type="mesh" mesh="atech_icm40608_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_icm40608_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.007" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_icm40608_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
<site name="atech_icm40608_sensor" pos="0 0 0.00477" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
</body>
</worldbody>
<sensor>
<accelerometer name="atech_icm40608_accel" site="atech_icm40608_sensor"/>
<gyro name="atech_icm40608_gyro" site="atech_icm40608_sensor"/>
</sensor>
</mujoco>
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