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<mujoco model="plug_house"> |
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<asset> |
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<mesh file="body_vis.obj" name="plug_house_mesh" scale="0.001 0.001 0.001"/> |
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<mesh file="body1_button_vis.obj" name="plug_switch_mesh" scale="0.001 0.001 0.001"/> |
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<mesh file="body1_base_collision.obj" name="body1_base_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body1_button_collision.obj" name="body1_button_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body2_base_collision.obj" name="body2_base_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body2_bottom_collision.obj" name="body2_bottom_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body2_left_collision.obj" name="body2_left_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body2_right_collision.obj" name="body2_right_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body2_up_collision.obj" name="body2_up_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body3_base_collision.obj" name="body3_base_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body3_bottom_collision.obj" name="body3_bottom_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body3_left_collision.obj" name="body3_left_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body3_right_collision.obj" name="body3_right_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body3_up_collision.obj" name="body3_up_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body4_base_collision.obj" name="body4_base_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body4_bottom_collision.obj" name="body4_bottom_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body4_left_collision.obj" name="body4_left_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body4_right_collision.obj" name="body4_right_collision" scale="0.001 0.001 0.001"/> |
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<mesh file="body4_up_collision.obj" name="body4_up_collision" scale="0.001 0.001 0.001"/> |
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<material name="plug_house_material1" rgba="0.9 0.9 0.9 1" specular="0.5" shininess="0.506516455" /> |
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<material name="plug_house_material2" rgba="0.9 0.1 0.1 0.5" specular="0.5" shininess="0.506516455" /> |
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</asset> |
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<worldbody> |
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<body name="body_obj_plug_house" pos="0 0 0.0"> |
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<geom name="plug_house_1_geom" type="mesh" mesh="plug_house_mesh" material="plug_house_material1" conaffinity="0" contype="0" group="2" pos="0 0 0" density="10000"/> |
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<geom name="plug_house_2_geom" type="mesh" mesh="plug_switch_mesh" material="plug_house_material2" conaffinity="0" contype="0" pos="0 0 0.0" density="500"/> |
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<geom mesh="body1_base_collision" type="mesh" rgba="0.6990825387860344 0.9152632614645052 0.5230825377579029 1" group="3"/> |
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<geom mesh="body1_button_collision" type="mesh" rgba="0.8228238551500836 0.1570331169481839 0.7461192478120952 1" group="3"/> |
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<geom mesh="body2_base_collision" type="mesh" rgba="0.4728913054506265 0.8931710022008243 0.8878447786791642 1" group="3"/> |
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<geom mesh="body2_bottom_collision" type="mesh" rgba="0.0054712155702493215 0.9273053962813244 0.2527386213084287 1" group="3"/> |
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<geom mesh="body2_left_collision" type="mesh" rgba="0.7664716043599809 0.13126646604158354 0.8204064142348346 1" group="3"/> |
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<geom mesh="body2_right_collision" type="mesh" rgba="0.5324350904172402 0.15070367039793708 0.6916708494833347 1" group="3"/> |
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<geom mesh="body2_up_collision" type="mesh" rgba="0.4771159538662524 0.37036103036083257 0.4000911919664988 1" group="3"/> |
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<geom mesh="body3_base_collision" type="mesh" rgba="0.39576309751237526 0.6794563421412995 0.31098898721320234 1" group="3"/> |
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<geom mesh="body3_bottom_collision" type="mesh" rgba="0.09391426231624755 0.7403248508999929 0.446912536313701 1" group="3"/> |
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<geom mesh="body3_left_collision" type="mesh" rgba="0.00037368001959836583 0.3208772021171242 0.451916476062423 1" group="3"/> |
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<geom mesh="body3_right_collision" type="mesh" rgba="0.6933617889506928 0.7417271877265508 0.3879453637926792 1" group="3"/> |
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<geom mesh="body3_up_collision" type="mesh" rgba="0.1739243985785076 0.08478661227766982 0.33659696360732705 1" group="3"/> |
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<geom mesh="body4_base_collision" type="mesh" rgba="0.9379653352389193 0.8609226999814957 0.16567186431931424 1" group="3"/> |
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<geom mesh="body4_bottom_collision" type="mesh" rgba="0.7969211277974918 0.6139769018603829 0.27147745858990446 1" group="3"/> |
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<geom mesh="body4_left_collision" type="mesh" rgba="0.3979786738042528 0.8088763692336037 0.040429230792350834 1" group="3"/> |
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<geom mesh="body4_right_collision" type="mesh" rgba="0.25762056064125793 0.03841656493184942 0.5344131753677562 1" group="3"/> |
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<geom mesh="body4_up_collision" type="mesh" rgba="0.23627838907048193 0.8734815187824604 0.22445081616403528 1" group="3"/> |
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<site rgba="1 0 0 0" size="0.01" pos="0 -0.1061 0.0627" name="bottom_site_plug_house_hole1"/> |
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<site rgba="0 1 0 0" size="0.01" pos="0 -0.0191 0.0627" name="bottom_site_plug_house_hole2"/> |
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<site rgba="0 0 1 0" size="0.01" pos="0 0.0680 0.0627" name="bottom_site_plug_house_hole3"/> |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0" name="bottom_site_plug_house"/> |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.1" name="top_site_plug_house"/> |
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<site rgba="0 0 0 0" size="0.005" pos="0.1 0 0" name="horizontal_radius_site_plug_house"/> |
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</body> |
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</worldbody> |
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</mujoco> |
