File size: 4,345 Bytes
41e7dab 7fa0e33 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 | <mujoco model="atech_stepper_motor">
<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="stepper_motor"/>
<text name="atech:name" data="Stepper Motor Driver (NEMA 17 / TMC2209)"/>
<text name="atech:category" data="motor"/>
<text name="atech:catalog_version" data="1.0.0a11"/>
<text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,actuator.frame"/>
<text name="atech:interface" data="gpio"/>
<text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module"/>
<text name="atech:visual:sha256" data="71889c765f7c35f7f0565418c32f4ab04d7dce345dca126f6d29d83a9282c40d"/>
</custom>
<asset>
<mesh name="atech_stepper_motor_black_cad_mesh" file="meshes/atech_stepper_motor/black.stl" inertia="shell"/>
<mesh name="atech_stepper_motor_black_m_cad_mesh" file="meshes/atech_stepper_motor/black_m.stl" inertia="shell"/>
<mesh name="atech_stepper_motor_glass_cad_mesh" file="meshes/atech_stepper_motor/glass.stl" inertia="shell"/>
<mesh name="atech_stepper_motor_gold_cad_mesh" file="meshes/atech_stepper_motor/gold.stl" inertia="shell"/>
<mesh name="atech_stepper_motor_pcb_cad_mesh" file="meshes/atech_stepper_motor/pcb.stl" inertia="shell"/>
<mesh name="atech_stepper_motor_derived_driver_chip_cad_mesh" file="meshes/atech_stepper_motor/derived_driver_chip.stl" inertia="shell"/>
<mesh name="atech_stepper_motor_derived_motor_terminal_cad_mesh" file="meshes/atech_stepper_motor/derived_motor_terminal.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_stepper_motor" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech module stepper_motor (Stepper Motor Driver (NEMA 17 / TMC2209)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_stepper_motor_free"/>
<geom name="atech_stepper_motor_black_cad" type="mesh" mesh="atech_stepper_motor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_black_m_cad" type="mesh" mesh="atech_stepper_motor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_glass_cad" type="mesh" mesh="atech_stepper_motor_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_gold_cad" type="mesh" mesh="atech_stepper_motor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_pcb_cad" type="mesh" mesh="atech_stepper_motor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_derived_driver_chip_cad" type="mesh" mesh="atech_stepper_motor_derived_driver_chip_cad_mesh" rgba="0.18 0.18 0.18 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_derived_motor_terminal_cad" type="mesh" mesh="atech_stepper_motor_derived_motor_terminal_cad_mesh" rgba="0.85 0.85 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_stepper_motor_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0172712551" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_stepper_motor_driver_chip" type="box" size="0.0025 0.0025 0.0005" pos="0 0 0.0105" mass="5.6057303e-05" rgba="0.18 0.18 0.18 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_stepper_motor_motor_terminal" type="box" size="0.005 0.003 0.0025" pos="0.013 0 0.0125" mass="0.000672687636" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_stepper_motor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
<site name="atech_stepper_motor_actuator" pos="0 0 0.0105" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/>
</body>
</worldbody>
</mujoco>
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