| <mujoco model="atech_icm40608"> |
| <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="icm40608"/> |
| <text name="atech:name" data="6-Axis IMU (ICM-40608 / LSM6DSOX)"/> |
| <text name="atech:category" data="sensor"/> |
| <text name="atech:catalog_version" data="1.0.0a11"/> |
| <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,sensor.frame"/> |
| <text name="atech:interface" data="i2c"/> |
| <text name="atech:i2c_address" data="104"/> |
| <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/orientation-sensor.glb"/> |
| <text name="atech:visual:sha256" data="07b48452eaf04d300934397aaac0e785eed26ea07d5e390b5b9318c1cf9a2f9a"/> |
| </custom> |
| <asset> |
| <mesh name="atech_icm40608_black_cad_mesh" file="meshes/atech_icm40608/black.stl" inertia="shell"/> |
| <mesh name="atech_icm40608_black_m_cad_mesh" file="meshes/atech_icm40608/black_m.stl" inertia="shell"/> |
| <mesh name="atech_icm40608_glass_cad_mesh" file="meshes/atech_icm40608/glass.stl" inertia="shell"/> |
| <mesh name="atech_icm40608_gold_cad_mesh" file="meshes/atech_icm40608/gold.stl" inertia="shell"/> |
| <mesh name="atech_icm40608_grey_cad_mesh" file="meshes/atech_icm40608/grey.stl" inertia="shell"/> |
| <mesh name="atech_icm40608_pcb_cad_mesh" file="meshes/atech_icm40608/pcb.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_icm40608" pos="0 0 0.05" quat="1 0 0 0"> |
| |
| <freejoint name="atech_icm40608_free"/> |
| <geom name="atech_icm40608_black_cad" type="mesh" mesh="atech_icm40608_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_icm40608_black_m_cad" type="mesh" mesh="atech_icm40608_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_icm40608_glass_cad" type="mesh" mesh="atech_icm40608_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_icm40608_gold_cad" type="mesh" mesh="atech_icm40608_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_icm40608_grey_cad" type="mesh" mesh="atech_icm40608_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_icm40608_pcb_cad" type="mesh" mesh="atech_icm40608_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_icm40608_body" type="box" size="0.00975 0.00975 0.00477" pos="0 0 0.00477" mass="0.007" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> |
| <site name="atech_icm40608_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> |
| <site name="atech_icm40608_sensor" pos="0 0 0.00477" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> |
| </body> |
| </worldbody> |
| <sensor> |
| <accelerometer name="atech_icm40608_accel" site="atech_icm40608_sensor"/> |
| <gyro name="atech_icm40608_gyro" site="atech_icm40608_sensor"/> |
| </sensor> |
| </mujoco> |
|
|
