File size: 6,528 Bytes
41e7dab 4283f18 41e7dab 4283f18 41e7dab 4283f18 41e7dab 4283f18 41e7dab 4283f18 41e7dab | 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 | <mujoco model="atech_scd40_air_quality">
<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="scd40_air_quality"/>
<text name="atech:name" data="SCD40 Air Quality Sensor (CO2)"/>
<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="i2c"/>
<text name="atech:i2c_address" data="98"/>
<text name="atech:visual:source" data="derived: shell of button.glb (Atech CAD) + sim.yaml parts (sensor_base, sensor_can, passive_1, passive_2, passive_3); not Atech CAD of this module"/>
<text name="atech:visual:sha256" data="511e034be096e0c5cb54c0301b6cac2684751c5fd4cce4cf406dd0cf6c991819"/>
</custom>
<asset>
<mesh name="atech_scd40_air_quality_black_cad_mesh" file="meshes/atech_scd40_air_quality/black.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_black_m_cad_mesh" file="meshes/atech_scd40_air_quality/black_m.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_glass_cad_mesh" file="meshes/atech_scd40_air_quality/glass.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_gold_cad_mesh" file="meshes/atech_scd40_air_quality/gold.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_grey_cad_mesh" file="meshes/atech_scd40_air_quality/grey.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_pcb_cad_mesh" file="meshes/atech_scd40_air_quality/pcb.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_derived_sensor_base_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_base.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_derived_sensor_can_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_can.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_derived_passive_1_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_1.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_derived_passive_2_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_2.stl" inertia="shell"/>
<mesh name="atech_scd40_air_quality_derived_passive_3_cad_mesh" file="meshes/atech_scd40_air_quality/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_scd40_air_quality" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module scd40_air_quality (SCD40 Air Quality Sensor (CO2)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_scd40_air_quality_free"/>
<geom name="atech_scd40_air_quality_black_cad" type="mesh" mesh="atech_scd40_air_quality_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_black_m_cad" type="mesh" mesh="atech_scd40_air_quality_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_glass_cad" type="mesh" mesh="atech_scd40_air_quality_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_gold_cad" type="mesh" mesh="atech_scd40_air_quality_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_grey_cad" type="mesh" mesh="atech_scd40_air_quality_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_pcb_cad" type="mesh" mesh="atech_scd40_air_quality_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_derived_sensor_base_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_base_cad_mesh" rgba="0.78 0.79 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_derived_sensor_can_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_can_cad_mesh" rgba="0.93 0.93 0.92 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_derived_passive_1_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_derived_passive_2_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_derived_passive_3_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_scd40_air_quality_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00718894689" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_scd40_air_quality_sensor_base" type="box" size="0.00505 0.00505 0.0004" pos="0 0 0.00454" mass="0.000154286805" rgba="0.78 0.79 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_scd40_air_quality_sensor_can" type="box" size="0.0039 0.0039 0.00285" pos="0 0 0.00779" mass="0.000655631956" rgba="0.93 0.93 0.92 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_scd40_air_quality_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.0025 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_scd40_air_quality_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.001 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_scd40_air_quality_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0068 -0.0015 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_scd40_air_quality_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
<site name="atech_scd40_air_quality_sensor" pos="0 0 0.01064" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
</body>
</worldbody>
</mujoco>
|