File size: 3,738 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 | <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="textures/metal1.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=".46 .5 .6 1" reflectance="0.7" shininess=".4"/>
<material name="slide_collision_blue" rgba="0.3 0.3 1.0 0.5" 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 conaffinity="1" condim="3" contype="0" group="0" margin="0.001" material="slide_collision_blue"/>
</default>
</default>
<worldbody>
<body>
<body name="object" pos="0 0 .125">
<geom class="slidecabinet" pos="-0.1125 0 -0.09" size="0.1115 0.15 0.01" type="box"/>
<geom class="slidecabinet" pos="0.112 0 0" size="0.113 0.15 0.1" type="box"/>
<geom class="slidecabinet" pos="-0.1125 0 0.09" size="0.1115 0.15 0.01" type="box"/>
<geom class="slidecabinet" pos="-0.213 0 0" size="0.011 0.15 0.08" type="box"/>
<geom class="slidecabinet" pos="-0.1 0.138 0.0" size="0.105 0.012 0.08" type="box"/>
<geom class="slide_collision" pos="-0.1225 0 -0.09" size="0.1115 0.15 0.01" type="box" mass=".2"/>
<geom class="slide_collision" pos="0.112 0 0" size="0.113 0.15 0.1" type="box" mass="1"/>
<geom class="slide_collision" pos="-0.1225 0 0.09" size="0.1115 0.15 0.01" type="box" mass=".2"/>
<geom class="slide_collision" pos="-0.213 0 0" size="0.011 0.15 0.08" type="box" mass=".2"/>
<geom class="slide_collision" pos="-0.1 0.138 0.0" size="0.1 0.012 0.08" type="box" mass=".2"/>
<body name="slidelink" pos="-0.1225 -0.16 0">
<joint name="slidedoor_joint" axis="1 0 0" type="slide" range="0 .44" limited="true"/>
<geom class="slidecabinet" material="M_slide_metal" euler="1.57 0 0" pos="-0.0915 -0.03 -0.057" size="0.0095 0.0265 0.0095" type="cylinder"/>
<geom class="slidecabinet" material="M_slide_metal" euler="1.57 0 0" pos="-0.0915 -0.03 0.057" size="0.0095 0.0265 0.0095" type="cylinder"/>
<geom class="slidecabinet" material="M_slide_metal" pos="-0.0915 -0.0615 0" size="0.011 0.0795" type="cylinder"/>
<geom class="slidecabinet" pos="0 -.01 0" size="0.1125 0.015 0.0975" type="box"/>
<geom class="slide_collision" pos="0 -.01 0" size="0.1125 0.015 0.0975" type="box" mass=".2"/>
<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" mass=".02"/>
<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" mass=".02"/>
<geom class="slide_collision" pos="-0.0915 -0.0615 0" size="0.011 0.0795" type="cylinder" mass=".1"/>
<site type="sphere" name="slide_site" pos="-0.0915 -0.0615 0" size=".005" group="3"/>
</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>
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