|
| 1 | +<mujoco model="d435i"> |
| 2 | + <compiler meshdir="../obj" fitaabb="true"/> |
| 3 | + |
| 4 | + <visual> |
| 5 | + <global azimuth="90" elevation="-90"/> |
| 6 | + </visual> |
| 7 | + |
| 8 | + <default> |
| 9 | + <default class="d435i"> |
| 10 | + <material specular="0" shininess="0.25"/> |
| 11 | + <default class="visual"> |
| 12 | + <geom group="2" type="mesh" contype="0" conaffinity="0" mass="0"/> |
| 13 | + </default> |
| 14 | + <default class="collision"> |
| 15 | + <geom group="3" type="mesh" mass="0"/> |
| 16 | + </default> |
| 17 | + </default> |
| 18 | + </default> |
| 19 | + |
| 20 | + <asset> |
| 21 | + <material class="d435i" name="Black_Acrylic" rgba="0.070360 0.070360 0.070360 1"/> |
| 22 | + <material class="d435i" name="Cameras_Gray" rgba="0.296138 0.296138 0.296138 1"/> |
| 23 | + <material class="d435i" name="IR_Emitter_Lens" rgba="0.287440 0.665387 0.327778 1"/> |
| 24 | + <material class="d435i" name="IR_Lens" rgba="0.035601 0.035601 0.035601 1"/> |
| 25 | + <material class="d435i" name="IR_Rim" rgba="0.799102 0.806952 0.799103 1"/> |
| 26 | + <material class="d435i" name="Metal_Casing" rgba="1 1 1 1"/> |
| 27 | + <material class="d435i" name="RGB_Pupil" rgba="0.087140 0.002866 0.009346 1"/> |
| 28 | + |
| 29 | + <mesh file="d435i_0.obj"/> |
| 30 | + <mesh file="d435i_1.obj"/> |
| 31 | + <mesh file="d435i_2.obj"/> |
| 32 | + <mesh file="d435i_3.obj"/> |
| 33 | + <mesh file="d435i_4.obj"/> |
| 34 | + <mesh file="d435i_5.obj"/> |
| 35 | + <mesh file="d435i_6.obj"/> |
| 36 | + <mesh file="d435i_7.obj"/> |
| 37 | + <mesh file="d435i_8.obj"/> |
| 38 | + </asset> |
| 39 | + |
| 40 | + <worldbody> |
| 41 | + <light pos="0 0 1.5" dir="0 0 -1" directional="true"/> |
| 42 | + <body name="d435i" childclass="d435i"> |
| 43 | + <geom mesh="d435i_0" material="IR_Lens" class="visual"/> |
| 44 | + <geom mesh="d435i_1" material="IR_Emitter_Lens" class="visual"/> |
| 45 | + <geom mesh="d435i_2" material="IR_Rim" class="visual"/> |
| 46 | + <geom mesh="d435i_3" material="IR_Lens" class="visual"/> |
| 47 | + <geom mesh="d435i_4" material="Cameras_Gray" class="visual"/> |
| 48 | + <geom mesh="d435i_5" material="Black_Acrylic" class="visual"/> |
| 49 | + <geom mesh="d435i_6" material="Black_Acrylic" class="visual"/> |
| 50 | + <geom mesh="d435i_7" material="RGB_Pupil" class="visual"/> |
| 51 | + <geom mesh="d435i_8" mass="0.072" material="Metal_Casing" class="visual"/> |
| 52 | + <geom class="collision" type="capsule" mesh="d435i_8"/> |
| 53 | + <!-- camera offset can be lookup on the datasheet on page 96: https://www.intelrealsense.com/wp-content/uploads/2024/10/Intel-RealSense-D400-Series-Datasheet-October-2024.pdf --> |
| 54 | + <camera name="wrist_0" mode="fixed" pos="0.0325 0 0" euler="0 180 0" resolution="1920 1080"/> |
| 55 | + <!-- <body pos="0.0325 0 0"> |
| 56 | + <geom type="sphere" size="0.01" rgba="1 1 0 1" /> |
| 57 | + </body> --> |
| 58 | + </body> |
| 59 | + </worldbody> |
| 60 | +</mujoco> |
0 commit comments