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<mujoco model="flat_stove"> |
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<asset> |
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<texture file="metal.png" name="tex-stove_knob_metal" type="2d"/> |
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<material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob_metal" texuniform="false"/> |
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<mesh file="stove_knob_base/visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0"/> |
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<texture file="button_dark_texture.png" name="tex-stove_knob" type="2d"/> |
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<material name="stove_knob_button" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/> |
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<mesh file="stove_knob_button/visual/stove_knob_button_vis.msh" name="stove_knob_button_vis" scale="1.0 1.0 1.0"/> |
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<texture file="metal.png" name="tex-stove_metal" type="2d"/> |
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<material name="stove_knob_metal" reflectance="0.5" texrepeat="1 |
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1" |
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texture="tex-stove_metal" texuniform="false" shininess="1.0"/> |
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<mesh file="./stove_burner/burnerplate.stl" name="burnerplate" scale="0.55 0.55 0.45" /> |
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</asset> |
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<worldbody> |
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<body name="body_obj_flat_stove" ><inertial pos="0 0 0" mass="100.0" diaginertia="0.1 0.1 0.1"/> |
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<freejoint/> |
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<body name="flat_stove_base"> |
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<body name="flat_stove_burner" pos="0.15 0 0.0"> |
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<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0.0" name="flat_stove_cook_region"/> |
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<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="1" name="base_vis"/> |
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<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="0" name="base"/> |
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<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="collision_burner"/> |
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<body name="flat_stove_burner_plate"> |
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<geom pos="0 0 0.025" type="mesh" mesh="burnerplate" |
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material="stove_knob_metal" group="1" name="burner" |
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contype="0" conaffinity="0" mass="100"/> |
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<geom pos ="0 0 0.022" type="cylinder" size="0.05 0.001" quat="0 0 0 1" rgba="0 0 0 0.8" conaffinity="0" contype="0" group="1" name="burner_base"/> |
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</body> |
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<site name="burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder"/> |
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</body> |
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<body name="flat_stove_button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068"> |
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<inertial pos="0 0 0" mass="3" diaginertia="1 1 1" /> |
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<joint name="flat_stove_button" type="hinge" pos="0 0 0" axis="0 0 1" |
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limited="true" range="-0.005 2.1" damping="1"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" |
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density="100" friction="0.95 0.3 0.1" |
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type="mesh" mesh="stove_knob_button_vis" |
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conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100.0" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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</body> |
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</body> |
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<site rgba="0 0 0 0" size="0.05" pos="0 0 -0.045" name="bottom_site_flat_stove"/> |
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<site rgba="0 0 0 0" size="0.15 0.1 0.05" pos="0 0 0.045" name="top_site_flat_stove"/> |
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<site rgba="0 0 0 0" size="0.05" pos="0.045 0.045 0" name="horizontal_radius_site_flat_stove"/> |
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</body> |
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</worldbody> |
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</mujoco> |
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