File size: 6,189 Bytes
6726ce8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | <mujoco model="atech_board_10port">
<compiler angle="radian" autolimits="true"/>
<option timestep="0.002" gravity="0 0 -9.81"/>
<custom>
<text name="atech:asset_type" data="board"/>
<text name="atech:id" data="10port"/>
<text name="atech:name" data="Atech 10-Port Board"/>
<text name="atech:category" data="board"/>
<text name="atech:catalog_version" data="1.0.0a11"/>
<text name="atech:placeholders" data="mass_kg,colors,parts,connector,physics_material,ports"/>
<text name="atech:visual:source" data="atechdotdev/atech-module-renders@v1.7 glb_plain/motherboard-10port.glb"/>
<text name="atech:visual:sha256" data="3cbcf0e801e772ab2d6e4d7d124f96e575aca79a037a99f8bdf0a10ebdd3cde6"/>
</custom>
<asset>
<mesh name="atech_board_10port_board_cad_mesh" file="meshes/atech_board_10port/board.stl" inertia="shell"/>
<mesh name="atech_board_10port_grey_cad_mesh" file="meshes/atech_board_10port/grey.stl" inertia="shell"/>
<mesh name="atech_board_10port_satin_cad_mesh" file="meshes/atech_board_10port/satin.stl" inertia="shell"/>
<mesh name="atech_board_10port_socket_cad_mesh" file="meshes/atech_board_10port/socket.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_board_10port" pos="0 0 0.05" quat="1 0 0 0">
<!-- Atech board 10port (Atech 10-Port Board); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. -->
<freejoint name="atech_board_10port_free"/>
<geom name="atech_board_10port_board_cad" type="mesh" mesh="atech_board_10port_board_cad_mesh" rgba="0.1318 0.1318 0.15 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_board_10port_grey_cad" type="mesh" mesh="atech_board_10port_grey_cad_mesh" rgba="0.3525 0.3589 0.3775 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_board_10port_satin_cad" type="mesh" mesh="atech_board_10port_satin_cad_mesh" rgba="0.2402 0.2402 0.269 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_board_10port_socket_cad" type="mesh" mesh="atech_board_10port_socket_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/>
<geom name="atech_board_10port_body" type="box" size="0.02 0.03 0.003555" pos="0 0 0.003555" mass="0.0276210363" rgba="0.93 0.93 0.91 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_1_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0093 0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_2_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0093 0 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_3_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.0093 -0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_4_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0093 -0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_5_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0093 0 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_6_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.0093 0.02 0.00541" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_7_slot" type="box" size="0.00975 0.00975 0.0002" pos="-0.00892 0.0196 0.00241" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_8_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.00892 0.0196 0.00241" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_port_9_slot" type="box" size="0.00975 0.00975 0.0002" pos="0.00892 -0.0196 0.00241" mass="0.000246200165" rgba="0.2 0.2 0.22 1" friction="0.4 0.005 0.0001" group="3"/>
<geom name="atech_board_10port_usb_c" type="box" size="0.0045 0.00175 0.0016" pos="-0.00892 -0.028 0.0016" mass="0.00016316224" rgba="0.75 0.75 0.78 1" friction="0.4 0.005 0.0001" group="3"/>
<site name="atech_board_10port_connector" pos="0 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/>
<site name="atech_board_10port_port_1" pos="-0.0093 0.02 0.00521" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_2" pos="-0.0093 0 0.00521" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_3" pos="-0.0093 -0.02 0.00521" quat="0.707106781 0 0 0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_4" pos="0.0093 -0.02 0.00521" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_5" pos="0.0093 0 0.00521" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_6" pos="0.0093 0.02 0.00521" quat="0.707106781 0 0 -0.707106781" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_7" pos="-0.00892 0.0196 0.00261" quat="3.74939946e-33 6.123234e-17 1 6.123234e-17" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_8" pos="0.00892 0.0196 0.00261" quat="3.74939946e-33 6.123234e-17 1 6.123234e-17" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_9" pos="0.00892 -0.0196 0.00261" quat="6.123234e-17 1 0 0" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
<site name="atech_board_10port_port_10" pos="-0.00892 -0.0196 0.00261" quat="6.123234e-17 1 0 0" size="0.002" rgba="0.2 1 0.2 1" group="4"/>
</body>
</worldbody>
</mujoco>
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