8-port board: Atech's CAD (Node 8 Position Motherboard) instead of the derived model; release sources tagged v1.7
6a13322 verified | <mujoco model="atech_robot_arm"> | |
| <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="robot_arm"/> | |
| <text name="atech:name" data="SO-101 / SO-ARM100 6-Axis Robot Arm"/> | |
| <text name="atech:category" data="robotics"/> | |
| <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="uart"/> | |
| <text name="atech:visual:source" data="derived: shell of screen.glb (Atech CAD) + sim.yaml parts (capacitor_base, capacitor, servo_connector_base, servo_connector_back, servo_connector_side_a, servo_connector_side_b, servo_pin_1, servo_pin_2, servo_pin_3, passive_1, passive_2); not Atech CAD of this module"/> | |
| <text name="atech:visual:sha256" data="9e641ecce22278214df0115081ba67e733824419aeeac367464d10051bae6040"/> | |
| </custom> | |
| <asset> | |
| <mesh name="atech_robot_arm_black_cad_mesh" file="meshes/atech_robot_arm/black.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_black_m_cad_mesh" file="meshes/atech_robot_arm/black_m.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_glass_cad_mesh" file="meshes/atech_robot_arm/glass.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_gold_cad_mesh" file="meshes/atech_robot_arm/gold.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_pcb_cad_mesh" file="meshes/atech_robot_arm/pcb.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_capacitor_base_cad_mesh" file="meshes/atech_robot_arm/derived_capacitor_base.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_capacitor_cad_mesh" file="meshes/atech_robot_arm/derived_capacitor.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_connector_base_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_base.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_connector_back_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_back.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_connector_side_a_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_side_a.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_connector_side_b_cad_mesh" file="meshes/atech_robot_arm/derived_servo_connector_side_b.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_pin_1_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_1.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_pin_2_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_2.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_servo_pin_3_cad_mesh" file="meshes/atech_robot_arm/derived_servo_pin_3.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_passive_1_cad_mesh" file="meshes/atech_robot_arm/derived_passive_1.stl" inertia="shell"/> | |
| <mesh name="atech_robot_arm_derived_passive_2_cad_mesh" file="meshes/atech_robot_arm/derived_passive_2.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_robot_arm" pos="0 0 0.05" quat="1 0 0 0"> | |
| <!-- Atech module robot_arm (SO-101 / SO-ARM100 6-Axis Robot Arm); atech 1.0.0a11. Fields in sim.yaml placeholders: are guesses. --> | |
| <freejoint name="atech_robot_arm_free"/> | |
| <geom name="atech_robot_arm_black_cad" type="mesh" mesh="atech_robot_arm_black_cad_mesh" rgba="0.0498 0.0498 0.0498 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_black_m_cad" type="mesh" mesh="atech_robot_arm_black_m_cad_mesh" rgba="0.0849 0.0849 0.0849 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_glass_cad" type="mesh" mesh="atech_robot_arm_glass_cad_mesh" rgba="0.9352 0.9538 0.9683 0.4196" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_gold_cad" type="mesh" mesh="atech_robot_arm_gold_cad_mesh" rgba="0.721 0.6026 0.2864 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_pcb_cad" type="mesh" mesh="atech_robot_arm_pcb_cad_mesh" rgba="0.0498 0.1107 0.2069 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_capacitor_base_cad" type="mesh" mesh="atech_robot_arm_derived_capacitor_base_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_capacitor_cad" type="mesh" mesh="atech_robot_arm_derived_capacitor_cad_mesh" rgba="0.08 0.08 0.09 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_connector_base_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_base_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_connector_back_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_back_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_connector_side_a_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_side_a_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_connector_side_b_cad" type="mesh" mesh="atech_robot_arm_derived_servo_connector_side_b_cad_mesh" rgba="0.88 0.88 0.86 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_pin_1_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_1_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_pin_2_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_2_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_servo_pin_3_cad" type="mesh" mesh="atech_robot_arm_derived_servo_pin_3_cad_mesh" rgba="0.83 0.69 0.22 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_passive_1_cad" type="mesh" mesh="atech_robot_arm_derived_passive_1_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_derived_passive_2_cad" type="mesh" mesh="atech_robot_arm_derived_passive_2_cad_mesh" rgba="0.75 0.75 0.73 1" contype="0" conaffinity="0" group="2" mass="0"/> | |
| <geom name="atech_robot_arm_body" type="box" size="0.01975 0.00975 0.005" pos="0 0 0.005" mass="0.0086613824" rgba="0.12 0.13 0.15 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_capacitor_base" type="box" size="0.00425 0.00425 0.0004" pos="-0.002 0 0.00454" mass="6.49955083e-05" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_capacitor" type="box" size="0.0039 0.0039 0.00075" pos="-0.002 0 0.00569" mass="0.000102620936" rgba="0.08 0.08 0.09 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_connector_base" type="box" size="0.00275 0.00475 0.0006" pos="0.0145 0 0.00474" mass="7.05055081e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_connector_back" type="box" size="0.0005 0.00475 0.00275" pos="0.01675 0 0.00689" mass="5.87545901e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_connector_side_a" type="box" size="0.00225 0.0004 0.00225" pos="0.014 -0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_connector_side_b" type="box" size="0.00225 0.0004 0.00225" pos="0.014 0.00435 0.00639" mass="1.82167342e-05" rgba="0.88 0.88 0.86 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_pin_1" type="box" size="0.0003 0.0003 0.002" pos="0.0145 -0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_pin_2" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_servo_pin_3" type="box" size="0.0003 0.0003 0.002" pos="0.0145 0.0025 0.00734" mass="1.61926526e-06" rgba="0.83 0.69 0.22 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_passive_1" type="box" size="0.0005 0.00025 0.0002" pos="0.006 0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <geom name="atech_robot_arm_passive_2" type="box" size="0.0005 0.00025 0.0002" pos="0.008 -0.004 0.00434" mass="2.24897953e-07" rgba="0.75 0.75 0.73 1" friction="0.4 0.005 0.0001" group="3"/> | |
| <site name="atech_robot_arm_connector" pos="-0.01 0 0" quat="1 0 0 0" size="0.002" rgba="0 0.6 1 1" group="4"/> | |
| <site name="atech_robot_arm_sensor" pos="0.0145 0 0.00939" quat="1 0 0 0" size="0.002" rgba="1 0.2 0.2 1" group="4"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |