File size: 7,193 Bytes
62ca0c8 | 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 54 55 56 57 58 59 60 61 | <mujoco model="atech_power_jack">
<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="power_jack"/>
<text name="atech:name" data="Power Jack"/>
<text name="atech:category" data="power"/>
<text name="atech:catalog_version" data="1.0.0a11"/>
<text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material"/>
<text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (jack_body, jack_barrel, jack_socket, regulator, controller, passive_1, passive_2, passive_3); not Atech CAD of this module"/>
<text name="atech:visual:sha256" data="f94042bad2da4d3fb627ed46b0df5a25550abffaccd27517969c2998d7efa859"/>
</custom>
<asset>
<mesh name="atech_power_jack_black_cad_mesh" file="meshes/atech_power_jack/black.stl" inertia="shell"/>
<mesh name="atech_power_jack_black_m_cad_mesh" file="meshes/atech_power_jack/black_m.stl" inertia="shell"/>
<mesh name="atech_power_jack_glass_cad_mesh" file="meshes/atech_power_jack/glass.stl" inertia="shell"/>
<mesh name="atech_power_jack_gold_cad_mesh" file="meshes/atech_power_jack/gold.stl" inertia="shell"/>
<mesh name="atech_power_jack_pcb_cad_mesh" file="meshes/atech_power_jack/pcb.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_jack_body_cad_mesh" file="meshes/atech_power_jack/derived_jack_body.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_jack_barrel_cad_mesh" file="meshes/atech_power_jack/derived_jack_barrel.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_jack_socket_cad_mesh" file="meshes/atech_power_jack/derived_jack_socket.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_regulator_cad_mesh" file="meshes/atech_power_jack/derived_regulator.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_controller_cad_mesh" file="meshes/atech_power_jack/derived_controller.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_passive_1_cad_mesh" file="meshes/atech_power_jack/derived_passive_1.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_passive_2_cad_mesh" file="meshes/atech_power_jack/derived_passive_2.stl" inertia="shell"/>
<mesh name="atech_power_jack_derived_passive_3_cad_mesh" file="meshes/atech_power_jack/derived_passive_3.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_power_jack" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module power_jack (Power Jack); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_power_jack_free"/>
<geom name="atech_power_jack_black_cad" type="mesh" mesh="atech_power_jack_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_black_m_cad" type="mesh" mesh="atech_power_jack_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_glass_cad" type="mesh" mesh="atech_power_jack_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_gold_cad" type="mesh" mesh="atech_power_jack_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_pcb_cad" type="mesh" mesh="atech_power_jack_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_jack_body_cad" type="mesh" mesh="atech_power_jack_derived_jack_body_cad_mesh" rgba="0.2 0.2 0.21 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_jack_barrel_cad" type="mesh" mesh="atech_power_jack_derived_jack_barrel_cad_mesh" rgba="0.2 0.2 0.21 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_jack_socket_cad" type="mesh" mesh="atech_power_jack_derived_jack_socket_cad_mesh" rgba="0.02 0.02 0.02 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_regulator_cad" type="mesh" mesh="atech_power_jack_derived_regulator_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_controller_cad" type="mesh" mesh="atech_power_jack_derived_controller_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_passive_1_cad" type="mesh" mesh="atech_power_jack_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_passive_2_cad" type="mesh" mesh="atech_power_jack_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_derived_passive_3_cad" type="mesh" mesh="atech_power_jack_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_power_jack_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0109630473" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_jack_body" type="box" size="0.0045 0.005 0.0031" pos="0.0145 0 0.00724" mass="0.000794207127" rgba="0.2 0.2 0.21 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_jack_barrel" type="box" size="0.0011 0.00375 0.00375" pos="0.0201 0 0.00724" mass="0.000176134645" rgba="0.2 0.2 0.21 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_jack_socket" type="box" size="0.0002 0.00225 0.00225" pos="0.0214 0 0.00724" mass="1.15288131e-05" rgba="0.02 0.02 0.02 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_regulator" type="box" size="0.0025 0.002 0.00075" pos="0.004 -0.004 0.00489" mass="4.26993079e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_controller" type="box" size="0.0015 0.0015 0.00045" pos="-0.008 0.004 0.00459" mass="1.15288131e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.002 -0.004 0.00434" mass="2.84662053e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0 0.002 0.00434" mass="2.84662053e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_power_jack_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.008 0.005 0.00434" mass="2.84662053e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_power_jack_connector" pos="-0.01 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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