| <mujoco model="atech_speaker"> |
| <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="speaker"/> |
| <text name="atech:name" data="I2S Speaker (MAX98357A)"/> |
| <text name="atech:category" data="audio"/> |
| <text name="atech:catalog_version" data="1.0.0a11"/> |
| <text name="atech:placeholders" data="mass_kg,colors,connector,physics_material,actuator.frame"/> |
| <text name="atech:interface" data="gpio"/> |
| <text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/speaker.glb"/> |
| <text name="atech:visual:sha256" data="ed97612474860e9671b7a2dfff6f6bc6b43f208d8c82344dde986d15310b3f16"/> |
| </custom> |
| <asset> |
| <mesh name="atech_speaker_black_cad_mesh" file="meshes/atech_speaker/black.stl" inertia="shell"/> |
| <mesh name="atech_speaker_black_m_cad_mesh" file="meshes/atech_speaker/black_m.stl" inertia="shell"/> |
| <mesh name="atech_speaker_gold_cad_mesh" file="meshes/atech_speaker/gold.stl" inertia="shell"/> |
| <mesh name="atech_speaker_pcb_cad_mesh" file="meshes/atech_speaker/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_speaker" pos="0 0 0.05" quat="1 0 0 0"> |
| |
| <freejoint name="atech_speaker_free"/> |
| <geom name="atech_speaker_black_cad" type="mesh" mesh="atech_speaker_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_speaker_black_m_cad" type="mesh" mesh="atech_speaker_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_speaker_gold_cad" type="mesh" mesh="atech_speaker_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_speaker_pcb_cad" type="mesh" mesh="atech_speaker_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> |
| <geom name="atech_speaker_body" type="box" size="0.02 0.00975 0.0101" pos="0 0 0.0101" mass="0.00978670013" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> |
| <geom name="atech_speaker_enclosure_overhang" type="box" size="0.02 0.010175 0.0101" pos="0 0.019925 0.0101" mass="0.0102132999" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> |
| <site name="atech_speaker_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> |
| <site name="atech_speaker_actuator" pos="0 0.0101 0.0202" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
