CO2, PIR and robot-arm modules: sensors on the PCB through the lid, after Atech's renders; the robot arm's two-cell housing (part 2)
4283f18 verified | <mujoco model="atech_scd40_air_quality"> | |
| <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="scd40_air_quality"/> | |
| <text name="atech:name" data="SCD40 Air Quality Sensor (CO2)"/> | |
| <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="i2c"/> | |
| <text name="atech:i2c_address" data="98"/> | |
| <text name="atech:visual:source" data="derived: shell of button.glb (Atech CAD) + sim.yaml parts (sensor_base, sensor_can, passive_1, passive_2, passive_3); not Atech CAD of this module"/> | |
| <text name="atech:visual:sha256" data="511e034be096e0c5cb54c0301b6cac2684751c5fd4cce4cf406dd0cf6c991819"/> | |
| </custom> | |
| <asset> | |
| <mesh name="atech_scd40_air_quality_black_cad_mesh" file="meshes/atech_scd40_air_quality/black.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_black_m_cad_mesh" file="meshes/atech_scd40_air_quality/black_m.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_glass_cad_mesh" file="meshes/atech_scd40_air_quality/glass.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_gold_cad_mesh" file="meshes/atech_scd40_air_quality/gold.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_grey_cad_mesh" file="meshes/atech_scd40_air_quality/grey.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_pcb_cad_mesh" file="meshes/atech_scd40_air_quality/pcb.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_derived_sensor_base_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_base.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_derived_sensor_can_cad_mesh" file="meshes/atech_scd40_air_quality/derived_sensor_can.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_derived_passive_1_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_1.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_derived_passive_2_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_2.stl" inertia="shell"/> | |
| <mesh name="atech_scd40_air_quality_derived_passive_3_cad_mesh" file="meshes/atech_scd40_air_quality/derived_passive_3.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_scd40_air_quality" pos="0 0 0.05" quat="1 0 0 0"> | |
| <!-- Atech module scd40_air_quality (SCD40 Air Quality Sensor (CO2)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. --> | |
| <freejoint name="atech_scd40_air_quality_free"/> | |
| <geom name="atech_scd40_air_quality_black_cad" type="mesh" mesh="atech_scd40_air_quality_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_black_m_cad" type="mesh" mesh="atech_scd40_air_quality_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_glass_cad" type="mesh" mesh="atech_scd40_air_quality_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_gold_cad" type="mesh" mesh="atech_scd40_air_quality_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_grey_cad" type="mesh" mesh="atech_scd40_air_quality_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_pcb_cad" type="mesh" mesh="atech_scd40_air_quality_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_derived_sensor_base_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_base_cad_mesh" rgba="0.78 0.79 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_derived_sensor_can_cad" type="mesh" mesh="atech_scd40_air_quality_derived_sensor_can_cad_mesh" rgba="0.93 0.93 0.92 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_derived_passive_1_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_derived_passive_2_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_derived_passive_3_cad" type="mesh" mesh="atech_scd40_air_quality_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_scd40_air_quality_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00718894689" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_scd40_air_quality_sensor_base" type="box" size="0.00505 0.00505 0.0004" pos="0 0 0.00454" mass="0.000154286805" rgba="0.78 0.79 0.8 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_scd40_air_quality_sensor_can" type="box" size="0.0039 0.0039 0.00285" pos="0 0 0.00779" mass="0.000655631956" rgba="0.93 0.93 0.92 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_scd40_air_quality_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.0025 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_scd40_air_quality_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="-0.0068 0.001 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_scd40_air_quality_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0068 -0.0015 0.00434" mass="3.78116865e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <site name="atech_scd40_air_quality_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> | |
| <site name="atech_scd40_air_quality_sensor" pos="0 0 0.01064" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |