| <mujoco model="atech_soil_sensor"> |
| <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="soil_sensor"/> |
| <text name="atech:name" data="Soil Sensor"/> |
| <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"/> |
| <text name="atech:interface" data="i2c"/> |
| <text name="atech:i2c_address" data="55"/> |
| <text name="atech:visual:source" data="derived: shell of temp-sensor.glb (Atech CAD) + sim.yaml parts (probe_bridge, probe_left, probe_right, pad_left, pad_right, coprocessor, status_led, passive_1, passive_2, passive_3, passive_4); not Atech CAD of this module"/> |
| <text name="atech:visual:sha256" data="08996b87f0e6e52587d9ab622f560a11d140d91f8f03b670516056a77f129ab1"/> |
| </custom> |
| <asset> |
| <mesh name="atech_soil_sensor_black_cad_mesh" file="meshes/atech_soil_sensor/black.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_black_m_cad_mesh" file="meshes/atech_soil_sensor/black_m.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_glass_cad_mesh" file="meshes/atech_soil_sensor/glass.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_gold_cad_mesh" file="meshes/atech_soil_sensor/gold.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_grey_cad_mesh" file="meshes/atech_soil_sensor/grey.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_pcb_cad_mesh" file="meshes/atech_soil_sensor/pcb.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_probe_bridge_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_bridge.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_probe_left_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_left.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_probe_right_cad_mesh" file="meshes/atech_soil_sensor/derived_probe_right.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_pad_left_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_left.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_pad_right_cad_mesh" file="meshes/atech_soil_sensor/derived_pad_right.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_coprocessor_cad_mesh" file="meshes/atech_soil_sensor/derived_coprocessor.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_status_led_cad_mesh" file="meshes/atech_soil_sensor/derived_status_led.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_passive_1_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_1.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_passive_2_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_2.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_passive_3_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_3.stl" inertia="shell"/> |
| <mesh name="atech_soil_sensor_derived_passive_4_cad_mesh" file="meshes/atech_soil_sensor/derived_passive_4.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_soil_sensor" pos="0 0 0.05" quat="1 0 0 0"> |
| |
| <freejoint name="atech_soil_sensor_free"/> |
| <geom name="atech_soil_sensor_black_cad" type="mesh" mesh="atech_soil_sensor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_black_m_cad" type="mesh" mesh="atech_soil_sensor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_glass_cad" type="mesh" mesh="atech_soil_sensor_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_gold_cad" type="mesh" mesh="atech_soil_sensor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_grey_cad" type="mesh" mesh="atech_soil_sensor_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_pcb_cad" type="mesh" mesh="atech_soil_sensor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_probe_bridge_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_bridge_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_probe_left_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_left_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_probe_right_cad" type="mesh" mesh="atech_soil_sensor_derived_probe_right_cad_mesh" rgba="0.07 0.07 0.08 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_pad_left_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_left_cad_mesh" rgba="0.72 0.64 0.47 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_pad_right_cad" type="mesh" mesh="atech_soil_sensor_derived_pad_right_cad_mesh" rgba="0.72 0.64 0.47 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_coprocessor_cad" type="mesh" mesh="atech_soil_sensor_derived_coprocessor_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_status_led_cad" type="mesh" mesh="atech_soil_sensor_derived_status_led_cad_mesh" rgba="0.85 0.85 0.83 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_passive_1_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_passive_2_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_passive_3_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_3_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_derived_passive_4_cad" type="mesh" mesh="atech_soil_sensor_derived_passive_4_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_soil_sensor_body" type="box" size="0.00975 0.00975 0.005" pos="0 0 0.005" mass="0.00688042407" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_probe_bridge" type="box" size="0.0084 0.00075 0.0008" pos="0 0.00975 0.00334" mass="7.29569227e-05" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_probe_left" type="box" size="0.00345 0.024875 0.0008" pos="-0.00495 0.033875 0.00334" mass="0.000993820938" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_probe_right" type="box" size="0.00345 0.024875 0.0008" pos="0.00495 0.033875 0.00334" mass="0.000993820938" rgba="0.07 0.07 0.08 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_pad_left" type="box" size="0.00255 0.0238 2.5e-05" pos="-0.00495 0.0341 0.004165" mass="2.19630736e-05" rgba="0.72 0.64 0.47 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_pad_right" type="box" size="0.00255 0.0238 2.5e-05" pos="0.00495 0.0341 0.004165" mass="2.19630736e-05" rgba="0.72 0.64 0.47 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_coprocessor" type="box" size="0.0015 0.00125 0.00045" pos="-0.004 -0.0045 0.00459" mass="1.22137705e-05" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_status_led" type="box" size="0.0008 0.0004 0.0003" pos="0.0055 -0.0055 0.00444" mass="1.38965567e-06" rgba="0.85 0.85 0.83 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="-0.0005 -0.0055 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="-0.0005 -0.0035 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_passive_3" type="box" size="0.0005 0.00025 0.0002" pos="0.0025 -0.0045 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_soil_sensor_passive_4" type="box" size="0.0005 0.00025 0.0002" pos="0.006 -0.002 0.00434" mass="3.61889497e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> |
| <site name="atech_soil_sensor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
