File size: 4,442 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 58 59 60 61 62 63 64 65 66 | <mujoco model="microwave">
<compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/>
<asset>
<mesh file="meshes/microwave/micro.stl" name="micro" scale="0.5 0.5 0.5"/>
<mesh file="meshes/microwave/microdoor.stl" name="microdoor" scale="0.5 0.5 0.5"/>
<mesh file="meshes/microwave/microbutton.stl" name="microbutton" scale="0.5 0.5 0.5"/>
<mesh file="meshes/microwave/microfeet.stl" name="microfeet" scale="0.5 0.5 0.5"/>
<mesh file="meshes/microwave/microhandle.stl" name="microhandle" scale="0.5 0.5 0.5"/>
<mesh file="meshes/microwave/microwindow.stl" name="microwindow" scale="0.5 0.5 0.5"/>
<texture name="T_micro_metal" type="cube" height="1" width="1" file="textures/metal1.png"/>
<material name="micro_metal" rgba="1 1 1 1" texture="T_micro_metal" texrepeat="3 3" reflectance="1" shininess="1" texuniform="false"/>
<material name="micro_black" rgba=".2 .2 .2 1" reflectance="1" shininess="1"/>
<material name="micro_window" rgba=".4 .4 .4 .25" reflectance="1" shininess="1"/>
<material name="micro_collision_blue" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
</asset>
<default>
<default class="microwave">A
<geom conaffinity="0" contype="0" group="1" material="micro_black" type="mesh"/>
</default>
<default class="micro_collision">
<geom conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="micro_collision_blue" solimp=".8 .9 .01" solref=".02 1"/>
</default>
</default>
<worldbody>
<body>
<body name="object">
<geom class="microwave" mesh="micro"/>
<geom class="microwave" material="micro_metal" mesh="microbutton"/>
<geom class="microwave" material="micro_metal" mesh="microfeet"/>
<site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.20" quat="1 0 0 0" size="0.12 0.0835 0.005" name="top_side"/>
<site rgba="1 0 0 0" type="box" pos="0.0 0.01 0.096" quat="1 0 0 0" size="0.12 0.0835 0.08" name="heating_region"/>
<geom class="micro_collision" pos="-0.158 0.0115 0.0935" size="0.0145 0.09955 0.0935" type="box" mass=".5"/>
<geom class="micro_collision" pos="0.118 0.0115 0.0935" size="0.0545 0.09955 0.0935" type="box" mass=".5"/>
<geom class="micro_collision" pos="-0.0405 0.0955 0.0935" size="0.1035 0.015 0.0935" type="box" mass=".5"/>
<geom class="micro_collision" pos="-0.04 -0.0035 0.1775" size="0.1035 0.0845 0.0095" type="box" mass=".5"/>
<geom class="micro_collision" pos="-0.04 -0.004 0.012" size="0.1035 0.084 0.012" type="box" mass=".5"/>
<geom class="micro_collision" pos="0.13 -0.0985 0.0935" size="0.0425 0.012 0.0935" type="box" mass=".5"/>
<body name="microdoorroot" pos="-0.1725 -0.088 0.096">
<joint type="hinge" axis="0 0 1" limited="true"
name="microjoint" range="-2.094 0" damping="0.5"/>
<geom class="microwave" mesh="microdoor" pos="0.1725 0.088 -0.096"/>
<geom class="microwave" material="micro_window" mesh="microwindow" pos="0.1725 0.088 -0.096"/>
<geom class="microwave" material="micro_metal" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule"/>
<geom class="microwave" material="micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 0.065" size="0.01 0.015" type="capsule"/>
<geom class="microwave" material="micro_metal" euler="1.57 0 0" pos="0.2375 -0.0375 -0.065" size="0.01 0.015" type="capsule"/>
<geom class="micro_collision" pos="0.2375 -0.054 0" size="0.01 0.065" type="capsule" mass="0.020"/>
<geom class="micro_collision" euler="1.57 0 0" pos="0.2375 -0.0375 .065" size="0.01 0.015" type="capsule" mass="0.020"/>
<geom class="micro_collision" euler="1.57 0 0" pos="0.2375 -0.0375 -.065" size="0.01 0.015" type="capsule" mass="0.020"/>
<geom class="micro_collision" pos="0.1295 -0.013 0" size="0.1295 0.012 0.0925" type="box" mass="0.20"/>
</body>
</body>
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.06" name="top_site" />
<site rgba="0 0 0 0" size="0.005" pos="0.015 0.015 0" name="horizontal_radius_site" />
</body>
</worldbody>
</mujoco>
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