| <mujoco model="slide_cabinet"> |
| <compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/> |
|
|
| <asset> |
| <texture name="T_slide_metal" type="cube" height="1" width="1" file="white_wood.png"/> |
|
|
| <material name="M_slide_metal" texture="T_slide_metal" texrepeat="3 3" reflectance="0.7" shininess=".4" texuniform="false"/> |
| <material name="M_slide_blue" rgba=".6 .6 .6 1" reflectance="0.7" shininess=".4"/> |
| <material name="slide_collision_blue" rgba="0.3 0.3 1.0 0.0" shininess="0" specular="0"/> |
| </asset> |
|
|
| <default> |
| <default class="slidecabinet"> |
| <joint damping="2" frictionloss="2" armature=".01" limited="true"/> |
| <geom conaffinity="0" contype="0" group="1" material="M_slide_blue" type="mesh"/> |
| </default> |
|
|
| <default class="slide_collision"> |
| <geom group="0" material="slide_collision_blue"/> |
| </default> |
| </default> |
|
|
| <worldbody> |
| <body name="body_obj_white_slide_cabinet" pos="0.5 0.0 0.89"> |
| |
| <body name="slide_cabinet_object" pos="0 0 .0"> |
| <geom class="slidecabinet" friction="0.95 0.3 0.1" pos="-0.1125 0 -0.09" size="0.1115 0.15 0.01" type="box" material="M_slide_metal" mass="100"/> |
| <geom class="slidecabinet" friction="0.95 0.3 0.1" pos="0.112 0 0" size="0.113 0.15 0.1" type="box" material="M_slide_metal" mass="100"/> |
| <geom class="slidecabinet" friction="0.95 0.3 0.1" pos="-0.1125 0 0.09" size="0.1115 0.15 0.01" type="box" material="M_slide_metal" mass="100"/> |
| <geom class="slidecabinet" friction="0.95 0.3 0.1" pos="-0.213 0 0" size="0.011 0.15 0.08" type="box" material="M_slide_metal" mass="100" /> |
| <geom class="slidecabinet" friction="0.95 0.3 0.1" pos="-0.1 0.138 0.0" size="0.105 0.012 0.08" type="box" material="M_slide_metal" mass="100"/> |
|
|
| <geom class="slide_collision" friction="0.95 0.3 0.1" pos="-0.1225 0 -0.09" size="0.1115 0.15 0.01" type="box"/> |
| <geom class="slide_collision" friction="0.95 0.3 0.1" pos="0.112 0 0" size="0.113 0.15 0.1" type="box"/> |
| <geom class="slide_collision" friction="0.95 0.3 0.1" pos="-0.1225 0 0.09" size="0.1115 0.15 0.01" type="box"/> |
| <geom class="slide_collision" friction="0.95 0.3 0.1" pos="-0.213 0 0" size="0.011 0.15 0.08" type="box"/> |
| <geom class="slide_collision" friction="0.95 0.3 0.1" pos="-0.1 0.138 0.0" size="0.1 0.012 0.08" type="box"/> |
|
|
| <site type="sphere" name="slide_site_white_slide_cabinet" pos="-0.1 -0.1 0.0" size="0.1 0.1 0.04" group="3"/> |
| <body name="body_obj_white_slide_link" pos="-0.1225 -0.16 0"> |
| <inertial pos="0 0 0" mass="0.0001" diaginertia="0.01 0.01 0.01"/> |
| <joint name="slidedoor_joint" axis="1 0 0" type="slide" range="0 .44" limited="true"/> |
| <geom class="slidecabinet" euler="1.57 0 0" pos="-0.0915 -0.03 -0.057" size="0.0095 0.0265 0.0095" type="cylinder" density="100"/> |
| <geom class="slidecabinet" euler="1.57 0 0" pos="-0.0915 -0.03 0.057" size="0.0095 0.0265 0.0095" type="cylinder" density="100"/> |
| <geom class="slidecabinet" pos="-0.0915 -0.0615 0" size="0.011 0.0795" type="cylinder" density="100"/> |
| <geom class="slidecabinet" pos="0 -.01 0" size="0.1125 0.015 0.0975" type="box" material="M_slide_metal" density="100"/> |
|
|
| <geom class="slide_collision" pos="0 -.01 0" size="0.1125 0.015 0.0975" type="box"/> |
| <geom class="slide_collision" euler="1.57 0 0" pos="-0.0915 -0.03 -0.057" size="0.0095 0.0265 0.0095" type="cylinder"/> |
| <geom class="slide_collision" euler="1.57 0 0" pos="-0.0915 -0.03 -0.057" size="0.0095 0.0265 0.0095" type="cylinder"/> |
| <geom class="slide_collision" pos="-0.0915 -0.0615 0" size="0.011 0.0795" type="cylinder"/> |
| </body> |
| </body> |
| <site rgba="0 0 0 0" size="0.0025" pos="0 0 -0.1" name="bottom_site" /> |
| <site rgba="0 0 0 0" size="0.2 0.2 0.01" pos="0 0 0.1" name="top_site_white_slide_cabinet" /> |
| <site rgba="0 0 0 0" size="0.0025" pos="0.0075 0.0075 0" name="horizontal_radius_site" /> |
| </body> |
| </worldbody> |
|
|
| </mujoco> |
|
|
