8-port board: Atech's CAD (Node 8 Position Motherboard) instead of the derived model; release sources tagged v1.7 (part 2)
7fa0e33 verified | <mujoco model="atech_stepper_motor"> | |
| <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="stepper_motor"/> | |
| <text name="atech:name" data="Stepper Motor Driver (NEMA 17 / TMC2209)"/> | |
| <text name="atech:category" data="motor"/> | |
| <text name="atech:catalog_version" data="1.0.0a11"/> | |
| <text name="atech:placeholders" data="size_m,mass_kg,colors,parts,connector,physics_material,actuator.frame"/> | |
| <text name="atech:interface" data="gpio"/> | |
| <text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (driver_chip, motor_terminal); not Atech CAD of this module"/> | |
| <text name="atech:visual:sha256" data="71889c765f7c35f7f0565418c32f4ab04d7dce345dca126f6d29d83a9282c40d"/> | |
| </custom> | |
| <asset> | |
| <mesh name="atech_stepper_motor_black_cad_mesh" file="meshes/atech_stepper_motor/black.stl" inertia="shell"/> | |
| <mesh name="atech_stepper_motor_black_m_cad_mesh" file="meshes/atech_stepper_motor/black_m.stl" inertia="shell"/> | |
| <mesh name="atech_stepper_motor_glass_cad_mesh" file="meshes/atech_stepper_motor/glass.stl" inertia="shell"/> | |
| <mesh name="atech_stepper_motor_gold_cad_mesh" file="meshes/atech_stepper_motor/gold.stl" inertia="shell"/> | |
| <mesh name="atech_stepper_motor_pcb_cad_mesh" file="meshes/atech_stepper_motor/pcb.stl" inertia="shell"/> | |
| <mesh name="atech_stepper_motor_derived_driver_chip_cad_mesh" file="meshes/atech_stepper_motor/derived_driver_chip.stl" inertia="shell"/> | |
| <mesh name="atech_stepper_motor_derived_motor_terminal_cad_mesh" file="meshes/atech_stepper_motor/derived_motor_terminal.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_stepper_motor" pos="0 0 0.05" quat="1 0 0 0"> | |
| <!-- Atech module stepper_motor (Stepper Motor Driver (NEMA 17 / TMC2209)); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. --> | |
| <freejoint name="atech_stepper_motor_free"/> | |
| <geom name="atech_stepper_motor_black_cad" type="mesh" mesh="atech_stepper_motor_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_black_m_cad" type="mesh" mesh="atech_stepper_motor_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_glass_cad" type="mesh" mesh="atech_stepper_motor_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_gold_cad" type="mesh" mesh="atech_stepper_motor_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_pcb_cad" type="mesh" mesh="atech_stepper_motor_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_derived_driver_chip_cad" type="mesh" mesh="atech_stepper_motor_derived_driver_chip_cad_mesh" rgba="0.18 0.18 0.18 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_derived_motor_terminal_cad" type="mesh" mesh="atech_stepper_motor_derived_motor_terminal_cad_mesh" rgba="0.85 0.85 0.8 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_stepper_motor_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0172712551" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_stepper_motor_driver_chip" type="box" size="0.0025 0.0025 0.0005" pos="0 0 0.0105" mass="5.6057303e-05" rgba="0.18 0.18 0.18 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_stepper_motor_motor_terminal" type="box" size="0.005 0.003 0.0025" pos="0.013 0 0.0125" mass="0.000672687636" rgba="0.85 0.85 0.8 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <site name="atech_stepper_motor_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> | |
| <site name="atech_stepper_motor_actuator" pos="0 0 0.0105" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |