CO2, PIR and robot-arm modules: sensors on the PCB through the lid, after Atech's renders; the robot arm's two-cell housing
7ef8711 verified | <mujoco model="atech_pir"> | |
| <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="pir"/> | |
| <text name="atech:name" data="PIR Motion Sensor (AM312)"/> | |
| <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="gpio"/> | |
| <text name="atech:visual:source" data="derived: shell of button.glb (Atech CAD) + sim.yaml parts (lens_collar, lens_dome, passive_1, passive_2); not Atech CAD of this module"/> | |
| <text name="atech:visual:sha256" data="c40db3493eb9e23c357fa4fba181e95492ac1c97a8592874d4d8012d8ee719f6"/> | |
| </custom> | |
| <asset> | |
| <mesh name="atech_pir_black_cad_mesh" file="meshes/atech_pir/black.stl" inertia="shell"/> | |
| <mesh name="atech_pir_black_m_cad_mesh" file="meshes/atech_pir/black_m.stl" inertia="shell"/> | |
| <mesh name="atech_pir_glass_cad_mesh" file="meshes/atech_pir/glass.stl" inertia="shell"/> | |
| <mesh name="atech_pir_gold_cad_mesh" file="meshes/atech_pir/gold.stl" inertia="shell"/> | |
| <mesh name="atech_pir_grey_cad_mesh" file="meshes/atech_pir/grey.stl" inertia="shell"/> | |
| <mesh name="atech_pir_pcb_cad_mesh" file="meshes/atech_pir/pcb.stl" inertia="shell"/> | |
| <mesh name="atech_pir_derived_lens_collar_cad_mesh" file="meshes/atech_pir/derived_lens_collar.stl" inertia="shell"/> | |
| <mesh name="atech_pir_derived_lens_dome_cad_mesh" file="meshes/atech_pir/derived_lens_dome.stl" inertia="shell"/> | |
| <mesh name="atech_pir_derived_passive_1_cad_mesh" file="meshes/atech_pir/derived_passive_1.stl" inertia="shell"/> | |
| <mesh name="atech_pir_derived_passive_2_cad_mesh" file="meshes/atech_pir/derived_passive_2.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_pir" pos="0 0 0.05" quat="1 0 0 0"> | |
| <!-- Atech module pir (PIR Motion Sensor (AM312)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. --> | |
| <freejoint name="atech_pir_free"/> | |
| <geom name="atech_pir_black_cad" type="mesh" mesh="atech_pir_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_black_m_cad" type="mesh" mesh="atech_pir_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_glass_cad" type="mesh" mesh="atech_pir_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_gold_cad" type="mesh" mesh="atech_pir_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_grey_cad" type="mesh" mesh="atech_pir_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_pcb_cad" type="mesh" mesh="atech_pir_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_derived_lens_collar_cad" type="mesh" mesh="atech_pir_derived_lens_collar_cad_mesh" rgba="0.82 0.82 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_derived_lens_dome_cad" type="mesh" mesh="atech_pir_derived_lens_dome_cad_mesh" rgba="0.95 0.95 0.93 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_derived_passive_1_cad" type="mesh" mesh="atech_pir_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_derived_passive_2_cad" type="mesh" mesh="atech_pir_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_pir_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00564596955" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_pir_lens_collar" type="box" size="0.00475 0.00475 0.0028" pos="0 0 0.00694" mass="0.000750420253" rgba="0.82 0.82 0.8 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_pir_lens_dome" type="box" size="0.00475 0.00475 0.00225" pos="0 0 0.011945" mass="0.000603016275" rgba="0.95 0.95 0.93 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_pir_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.0025 0.00434" mass="2.96960923e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_pir_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.0068 -0.0015 0.00434" mass="2.96960923e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <site name="atech_pir_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> | |
| <site name="atech_pir_sensor" pos="0 0 0.014195" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |