| <mujoco model="atech_rotary_encoder"> |
| <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="rotary_encoder"/> |
| <text name="atech:name" data="Rotary Encoder Knob"/> |
| <text name="atech:category" data="input"/> |
| <text name="atech:catalog_version" data="1.0.0a11"/> |
| <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,sensor.frame,actuator.frame"/> |
| <text name="atech:interface" data="gpio"/> |
| <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/knob.glb"/> |
| <text name="atech:visual:sha256" data="a55efd7f6a4f372ab6f6bd3ef8d7635ef9540f1ec003f35c7f7368b3eee92465"/> |
| </custom> |
| <asset> |
| <mesh name="atech_rotary_encoder_black_cad_mesh" file="meshes/atech_rotary_encoder/black.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_black_m_cad_mesh" file="meshes/atech_rotary_encoder/black_m.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_glass_cad_mesh" file="meshes/atech_rotary_encoder/glass.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_gold_cad_mesh" file="meshes/atech_rotary_encoder/gold.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_grey_cad_mesh" file="meshes/atech_rotary_encoder/grey.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_led_ring_cad_mesh" file="meshes/atech_rotary_encoder/led_ring.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_pcb_cad_mesh" file="meshes/atech_rotary_encoder/pcb.stl" inertia="shell"/> |
| <mesh name="atech_rotary_encoder_satin_cad_mesh" file="meshes/atech_rotary_encoder/satin.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_rotary_encoder" pos="0 0 0.05" quat="1 0 0 0"> |
| |
| <freejoint name="atech_rotary_encoder_free"/> |
| <geom name="atech_rotary_encoder_black_cad" type="mesh" mesh="atech_rotary_encoder_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_black_m_cad" type="mesh" mesh="atech_rotary_encoder_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_glass_cad" type="mesh" mesh="atech_rotary_encoder_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_gold_cad" type="mesh" mesh="atech_rotary_encoder_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_grey_cad" type="mesh" mesh="atech_rotary_encoder_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_led_ring_cad" type="mesh" mesh="atech_rotary_encoder_led_ring_cad_mesh" rgba="0.9574 0.9445 0.918 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_pcb_cad" type="mesh" mesh="atech_rotary_encoder_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_satin_cad" type="mesh" mesh="atech_rotary_encoder_satin_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_rotary_encoder_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.00782211579" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_rotary_encoder_base_overhang" type="box" size="0.01975 0.01005 0.005" pos="0 0.0198 0.005" mass="0.00806279628" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_rotary_encoder_knob" type="box" size="0.006 0.006 0.01407" pos="-0.00015 0.0101 0.02407" mass="0.00411508792" rgba="0.03 0.03 0.03 1" friction="0.4 0.005 0.0001" group="3"/> |
| <site name="atech_rotary_encoder_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> |
| <site name="atech_rotary_encoder_sensor" pos="-0.00015 0.0101 0.03814" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> |
| <site name="atech_rotary_encoder_actuator" pos="-0.00015 0.01005 0.00498" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
