File size: 5,170 Bytes
6726ce8 7ef8711 6726ce8 7ef8711 6726ce8 7ef8711 6726ce8 7ef8711 6726ce8 7ef8711 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 47 48 49 50 51 52 53 | <mujoco model="atech_pir">
<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="pir"/>
<text name="atech:name" data="PIR Motion Sensor (AM312)"/>
<text name="atech:category" data="sensor"/>
<text name="atech:catalog_version" data="1.0.0a11"/>
<text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,sensor.frame"/>
<text name="atech:interface" data="gpio"/>
<text name="atech:visual:source" data="derived: shell of button.glb (Atech CAD) + sim.yaml parts (lens_collar, lens_dome, passive_1, passive_2); not Atech CAD of this module"/>
<text name="atech:visual:sha256" data="c40db3493eb9e23c357fa4fba181e95492ac1c97a8592874d4d8012d8ee719f6"/>
</custom>
<asset>
<mesh name="atech_pir_black_cad_mesh" file="meshes/atech_pir/black.stl" inertia="shell"/>
<mesh name="atech_pir_black_m_cad_mesh" file="meshes/atech_pir/black_m.stl" inertia="shell"/>
<mesh name="atech_pir_glass_cad_mesh" file="meshes/atech_pir/glass.stl" inertia="shell"/>
<mesh name="atech_pir_gold_cad_mesh" file="meshes/atech_pir/gold.stl" inertia="shell"/>
<mesh name="atech_pir_grey_cad_mesh" file="meshes/atech_pir/grey.stl" inertia="shell"/>
<mesh name="atech_pir_pcb_cad_mesh" file="meshes/atech_pir/pcb.stl" inertia="shell"/>
<mesh name="atech_pir_derived_lens_collar_cad_mesh" file="meshes/atech_pir/derived_lens_collar.stl" inertia="shell"/>
<mesh name="atech_pir_derived_lens_dome_cad_mesh" file="meshes/atech_pir/derived_lens_dome.stl" inertia="shell"/>
<mesh name="atech_pir_derived_passive_1_cad_mesh" file="meshes/atech_pir/derived_passive_1.stl" inertia="shell"/>
<mesh name="atech_pir_derived_passive_2_cad_mesh" file="meshes/atech_pir/derived_passive_2.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_pir" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module pir (PIR Motion Sensor (AM312)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_pir_free"/>
<geom name="atech_pir_black_cad" type="mesh" mesh="atech_pir_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_black_m_cad" type="mesh" mesh="atech_pir_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_glass_cad" type="mesh" mesh="atech_pir_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_gold_cad" type="mesh" mesh="atech_pir_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_grey_cad" type="mesh" mesh="atech_pir_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_pcb_cad" type="mesh" mesh="atech_pir_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_derived_lens_collar_cad" type="mesh" mesh="atech_pir_derived_lens_collar_cad_mesh" rgba="0.82 0.82 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_derived_lens_dome_cad" type="mesh" mesh="atech_pir_derived_lens_dome_cad_mesh" rgba="0.95 0.95 0.93 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_derived_passive_1_cad" type="mesh" mesh="atech_pir_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_derived_passive_2_cad" type="mesh" mesh="atech_pir_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_pir_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00564596955" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_pir_lens_collar" type="box" size="0.00475 0.00475 0.0028" pos="0 0 0.00694" mass="0.000750420253" rgba="0.82 0.82 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_pir_lens_dome" type="box" size="0.00475 0.00475 0.00225" pos="0 0 0.011945" mass="0.000603016275" rgba="0.95 0.95 0.93 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_pir_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.0025 0.00434" mass="2.96960923e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_pir_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.0068 -0.0015 0.00434" mass="2.96960923e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_pir_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
<site name="atech_pir_sensor" pos="0 0 0.014195" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
</body>
</worldbody>
</mujoco>
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