File size: 3,128 Bytes
3ba7840 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | <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>
|