File size: 9,340 Bytes
62ca0c8 a59b492 62ca0c8 a59b492 62ca0c8 a59b492 62ca0c8 a59b492 62ca0c8 a59b492 62ca0c8 a59b492 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 62 63 64 65 66 67 68 69 70 71 72 73 74 | <mujoco model="atech_soil_sensor">
<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="soil_sensor"/>
<text name="atech:name" data="Soil Sensor"/>
<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"/>
<text name="atech:interface" data="i2c"/>
<text name="atech:i2c_address" data="55"/>
<text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_bridge, probe_left, probe_right, pad_left, pad_right, coprocessor, status_led, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module"/>
<text name="atech:visual:sha256" data="08996b87f0e6e52587d9ab622f560a11d140d91f8f03b670516056a77f129ab1"/>
</custom>
<asset>
<mesh name="atech_soil_sensor_black_cad_mesh" file="meshes/atech_soil_sensor/black.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_black_m_cad_mesh" file="meshes/atech_soil_sensor/black_m.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_glass_cad_mesh" file="meshes/atech_soil_sensor/glass.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_gold_cad_mesh" file="meshes/atech_soil_sensor/gold.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_grey_cad_mesh" file="meshes/atech_soil_sensor/grey.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_pcb_cad_mesh" file="meshes/atech_soil_sensor/pcb.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_probe_bridge_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_bridge.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_probe_left_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_left.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_probe_right_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_right.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_pad_left_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_left.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_pad_right_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_right.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_coprocessor_cad_mesh" file="meshes/atech_soil_sensor/derived_coprocessor.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_status_led_cad_mesh" file="meshes/atech_soil_sensor/derived_status_led.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_passive_1_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_1.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_passive_2_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_2.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_passive_3_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_3.stl" inertia="shell"/>
<mesh name="atech_soil_sensor_derived_passive_4_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_4.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_soil_sensor" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module soil_sensor (Soil Sensor); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_soil_sensor_free"/>
<geom name="atech_soil_sensor_black_cad" type="mesh" mesh="atech_soil_sensor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_black_m_cad" type="mesh" mesh="atech_soil_sensor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_glass_cad" type="mesh" mesh="atech_soil_sensor_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_gold_cad" type="mesh" mesh="atech_soil_sensor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_grey_cad" type="mesh" mesh="atech_soil_sensor_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_pcb_cad" type="mesh" mesh="atech_soil_sensor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_probe_bridge_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_bridge_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_probe_left_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_left_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_probe_right_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_right_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_pad_left_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_left_cad_mesh" rgba="0.72 0.64 0.47 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_pad_right_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_right_cad_mesh" rgba="0.72 0.64 0.47 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_coprocessor_cad" type="mesh" mesh="atech_soil_sensor_derived_coprocessor_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_status_led_cad" type="mesh" mesh="atech_soil_sensor_derived_status_led_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_passive_1_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_passive_2_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_passive_3_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_derived_passive_4_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_4_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_soil_sensor_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00688042407" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_probe_bridge" type="box" size="0.0084 0.00075 0.0008" pos="0 0.00975 0.00334" mass="7.29569227e-05" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_probe_left" type="box" size="0.00345 0.024875 0.0008" pos="-0.00495 0.033875 0.00334" mass="0.000993820938" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_probe_right" type="box" size="0.00345 0.024875 0.0008" pos="0.00495 0.033875 0.00334" mass="0.000993820938" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_pad_left" type="box" size="0.00255 0.0238 2.5e-05" pos="-0.00495 0.0341 0.004165" mass="2.19630736e-05" rgba="0.72 0.64 0.47 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_pad_right" type="box" size="0.00255 0.0238 2.5e-05" pos="0.00495 0.0341 0.004165" mass="2.19630736e-05" rgba="0.72 0.64 0.47 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_coprocessor" type="box" size="0.0015 0.00125 0.00045" pos="-0.004 -0.0045 0.00459" mass="1.22137705e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_status_led" type="box" size="0.0008 0.0004 0.0003" pos="0.0055 -0.0055 0.00444" mass="1.38965567e-06" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0005 -0.0055 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="-0.0005 -0.0035 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0025 -0.0045 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_soil_sensor_passive_4" type="box" size="0.0005 0.00025 0.0002" pos="0.006 -0.002 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_soil_sensor_connector" pos="0 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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