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<mujoco model="microwave"> |
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<compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/> |
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<asset> |
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<mesh file="micro.stl" name="micro" scale="0.5 0.3 0.65"/> |
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<mesh file="microdoor.stl" name="microdoor" scale="0.5 0.3 0.65"/> |
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<mesh file="microbutton.stl" name="microbutton" scale="0.5 0.3 0.65"/> |
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<mesh file="microfeet.stl" name="microfeet" scale="0.5 0.3 0.65"/> |
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<mesh file="microhandle.stl" name="microhandle" scale="0.5 0.3 0.65"/> |
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<mesh file="microwindow.stl" name="microwindow" scale="0.5 0.3 0.65"/> |
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<texture name="T_micro_metal" type="cube" height="1" width="1" file="metal1.png"/> |
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<material name="micro_metal" rgba="1 1 1 1" texture="T_micro_metal" texrepeat="3 3" reflectance="1" shininess="1" texuniform="false"/> |
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<material name="micro_black" rgba=".2 .2 .2 1" reflectance="1" shininess="1"/> |
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<material name="micro_window" rgba=".4 .4 .4 .85" reflectance="1" shininess="1"/> |
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<material name="micro_collision_blue" rgba="0.3 0.3 1.0 0.0" shininess="0" specular="0"/> |
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</asset> |
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<default> |
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<default class="microwave"> |
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<geom conaffinity="0" contype="0" group="1" material="micro_black" type="mesh"/> |
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</default> |
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<default class="micro_collision"> |
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<geom group="1" margin="0.001" material="micro_collision_blue" solimp=".8 .9 .01" solref=".02 1"/> |
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</default> |
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</default> |
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<worldbody> |
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<body name="body_obj_microwave"> |
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<inertial pos="0 0 0" mass="500.0" diaginertia="100 100 100"/> |
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<freejoint/> |
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<body name="mircowave_base" pos="0 0 0.0"> |
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<inertial pos="0 0 0" mass="100.0" diaginertia="100 100 100"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" mesh="micro"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" material="micro_metal" mesh="microbutton"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" material="micro_metal" mesh="microfeet"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="-0.158 0.0115 0.12155" size="0.0145 0.06955 0.12155" type="box" mass="100"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="0.118 0.0115 0.12155" size="0.0545 0.06955 0.12155" type="box" mass="100"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="-0.0405 0.0555 0.12155" size="0.1035 0.0105 0.12155" type="box" mass="100"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="-0.04 0.01 0.235" size="0.1035 0.0645 0.0095" type="box" mass="100"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="-0.04 0.01 0.014" size="0.1035 0.064 0.012" type="box" mass="100"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="0.13 -0.0685 0.12155" size="0.0425 0.012 0.12155" type="box" mass="100"/> |
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<body name="body_obj_microwave_door" pos="-0.1725 -0.068 0.096"> |
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<joint type="hinge" axis="0 0 1" limited="true" |
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name="microjoint" range="-2.094 0" damping="0.5"/> |
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<inertial pos="0 0 0" mass="0.5" diaginertia="0.005 0.005 0.005"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" mesh="microdoor" pos="0.1725 0.068 -0.096"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" material="micro_window" mesh="microwindow" pos="0.1725 0.068 -0.096"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" material="micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" material="micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule"/> |
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<geom friction="0.95 0.3 0.1" class="microwave" material="micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020" /> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020"/> |
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<geom friction="0.95 0.3 0.1" class="micro_collision" pos="0.1295 -0.013 0.03" size="0.1295 0.012 0.12" type="box" mass="0.20"/> |
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</body> |
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</body> |
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<site rgba="1 0 0 0" type="box" pos="-0.025 -0.04 -0.02" quat="1 0 0 0" size="0.0012 0.00835 0.005" name="heating_side"/> |
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<site rgba="1 0 0 0" type="box" pos="-0.05 -0.02 0.03" quat="1 0 0 0" size="0.12 0.1 0.2" name="microwave_heating_region"/> |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" /> |
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<site rgba="0 0 0 0" size="0.3 0.1 0.005" pos="0 0 0.06" name="top_site_microwave" /> |
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<site rgba="0 0 0 0" size="0.005" pos="0.015 0.015 0" name="horizontal_radius_site" /> |
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</body> |
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</worldbody> |
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</mujoco> |
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