| <mujoco model="faucet"> | |
| <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/> | |
| <asset> | |
| <texture name="T_fauc_met" type="cube" file="textures/metal2.png"/> | |
| <material name="faucet_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/> | |
| <material name="faucet_white" rgba=".75 .75 .75 1" shininess="1" reflectance=".7" specular=".5"/> | |
| <material name="faucet_red" rgba=".5 .1 .1 1" shininess="1" reflectance=".7" specular=".5"/> | |
| <material name="faucet_metal" rgba=".7 .7 .7 1" texture="T_fauc_met" shininess="1" reflectance="1" specular=".5"/> | |
| <mesh file="meshes/faucet/faucetbase.stl" name="faucetbase"/> | |
| <mesh file="meshes/faucet/faucethandle1.stl" name="faucethandle1"/> | |
| <mesh file="meshes/faucet/faucethead.stl" name="faucethead"/> | |
| </asset> | |
| <default> | |
| <default class="faucet_base"> | |
| <joint armature="0.001" damping="2" limited="true"/> | |
| <geom conaffinity="0" contype="0" group="1" type="mesh"/> | |
| <position ctrllimited="true" ctrlrange="0 1.57"/> | |
| </default> | |
| <default class="faucet_viz"> | |
| <geom condim="4" type="mesh"/> | |
| </default> | |
| <default class="faucet_col"> | |
| <geom conaffinity="1" condim="3" contype="1" group="0" material="faucet_col" solimp="0.99 0.99 0.01" solref="0.01 1"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <body> | |
| <body name="object" pos="0 0.8 0"> | |
| <geom class="faucet_base" material="faucet_metal" mesh="faucetbase" pos="0 0 0.088"/> | |
| <geom class="faucet_col" pos="0 0 0.009" size="0.046 0.009" type="cylinder"/> | |
| <geom class="faucet_col" pos="0 0 0.061" size="0.017 0.044" type="cylinder"/> | |
| <body name="faucet_link2" pos="0 0 0.124"> | |
| <joint name="knob_Joint_1" type="hinge" range="-1.57 1.57" axis="0 0 1"/> | |
| <geom class="faucet_base" material="faucet_metal" euler="1.57 0 0" mesh="faucethandle1" pos="0 -0.06 0.001"/> | |
| <geom class="faucet_base" material="faucet_metal" mesh="faucethead" pos="0 0 0.001"/> | |
| <geom class="faucet_base" material="faucet_red" euler="1.57 0 0" pos="0 -0.12 0.001" size="0.017 0.055" type="capsule"/> | |
| <geom class="faucet_col" euler="1.57 0 0" pos="0 -0.05 0.001" size="0.012 0.021" type="cylinder"/> | |
| <geom class="faucet_col" euler="1.57 0 0" pos="0 -0.12 0.001" size="0.017 0.055" type="capsule"/> | |
| <geom class="faucet_col" pos="0 0 0.001" size="0.032 0.02" type="cylinder"/> | |
| <site name="handleStartClose" pos="0.015 -0.175 0" size="0.01" rgba="0 0 0 1"/> | |
| <site name="handleStartOpen" pos="-0.015 -0.175 0" size="0.005" rgba="1 1 1 1"/> | |
| </body> | |
| </body> | |
| <site rgba="0 0 0 0" size="0.0025" pos="0 0 -0.03" name="bottom_site" /> | |
| <site rgba="0 0 0 0" size="0.0025" pos="0 0 0.03" name="top_site" /> | |
| <site rgba="0 0 0 0" size="0.0025" pos="0.0075 0.0075 0" name="horizontal_radius_site" /> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |