| <mujoco model="window"> |
| <compiler angle="radian" inertiafromgeom="auto" inertiagrouprange="4 5"/> |
| <asset> |
| <material name="window_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/> |
| <material name="window_white" rgba=".65 .65 .65 1" shininess="1" reflectance=".7" specular=".5"/> |
| <material name="window_red" rgba=".36 .26 .27 1" shininess="1" reflectance=".7" specular=".5"/> |
| <material name="window_green" rgba=".51 .58 .55 1" shininess="1" reflectance=".7" specular=".5"/> |
| <material name="window_black" rgba=".3 .3 .3 1" shininess="1" reflectance=".7" specular=".5"/> |
| <material name="window_glass" rgba="0 .3 .4 .1" shininess="1" reflectance="1" specular=".5"/> |
|
|
| <mesh file="meshes/window/window_h_base.stl" name="window_h_base" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/window_h_frame.stl" name="window_h_frame" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowa_h_frame.stl" name="windowa_h_frame" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowa_h_glass.stl" name="windowa_h_glass" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowb_h_frame.stl" name="windowb_h_frame" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowb_h_glass.stl" name="windowb_h_glass" scale="0.5 0.5 0.5"/> |
|
|
| <mesh file="meshes/window/window_base.stl" name="window_base" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/window_frame.stl" name="window_frame" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowa_frame.stl" name="windowa_frame" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowa_glass.stl" name="windowa_glass" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowb_frame.stl" name="windowb_frame" scale="0.5 0.5 0.5"/> |
| <mesh file="meshes/window/windowb_glass.stl" name="windowb_glass" scale="0.5 0.5 0.5"/> |
| </asset> |
|
|
| <default> |
| <default class="window_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="window_viz"> |
| <geom condim="4" type="mesh"/> |
| </default> |
| <default class="window_col"> |
| <geom conaffinity="1" condim="3" contype="1" group="0" material="window_col" solimp="0.99 0.99 0.01" solref="0.01 1"/> |
| </default> |
| </default> |
|
|
| <worldbody> |
| <body> |
| <body name="object" pos="0 0.2 0"> |
| <geom class="window_base" material="window_red" mesh="window_h_base" pos="0 0 -0.096" /> |
| <geom class="window_base" material="window_red" mesh="window_h_frame"/> |
| <geom class="window_col" pos="-0.108 0 0" size="0.0075 0.015 0.0905" type="box" /> |
| <geom class="window_col" pos="0 0 -0.096" size="0.125 0.03 0.005" type="box" /> |
| <geom class="window_col" pos="0.108 0 0" size="0.0075 0.015 0.0905" type="box" /> |
| <geom class="window_col" pos="0 0 -0.083" size="0.1005 0.015 0.0075" type="box" /> |
| <geom class="window_col" pos="0 0 0.083" size="0.1005 0.015 0.0075" type="box" /> |
| <body name="windowb_a"> |
| <joint type="slide" range="0 .2" axis="1 0 0" name="window_slide"/> |
| <geom class="window_base" material="window_white" euler="1.57 0 0" pos="-0.007 -0.014 0.0225" size="0.006 0.0015" type="cylinder" /> |
| <geom class="window_base" material="window_white" euler="1.57 0 0" pos="-0.007 -0.014 -0.0225" size="0.006 0.0015" type="cylinder" /> |
| <geom class="window_base" material="window_white" euler="1.57 0 0" pos="-0.007 -0.03 0.0225" size="0.004 0.0175" type="capsule" /> |
| <geom class="window_base" material="window_white" euler="1.57 0 0" pos="-0.007 -0.03 -0.0225" size="0.004 0.0175" type="capsule" /> |
| <geom class="window_base" material="window_white" pos="-0.007 -0.0475 0" size="0.004 0.0225" type="capsule" /> |
| <geom class="window_base" material="window_red" mesh="windowb_h_frame" pos="-0.052 -0.011 0" /> |
| <geom class="window_base" material="window_glass" mesh="windowb_h_glass" pos="-0.052 -0.009 0" /> |
|
|
| <geom class="window_col" euler="1.57 0 0" pos="-0.007 -0.014 0.0225" size="0.006 0.0015" type="cylinder" /> |
| <geom class="window_col" euler="1.57 0 0" pos="-0.007 -0.014 -0.0225" size="0.006 0.0015" type="cylinder" /> |
| <geom class="window_col" euler="1.57 0 0" pos="-0.007 -0.03 0.0225" size="0.004 0.0175" type="capsule" /> |
| <geom class="window_col" euler="1.57 0 0" pos="-0.007 -0.03 -0.0225" size="0.004 0.0175" type="capsule" /> |
| <geom class="window_col" pos="-0.007 -0.0475 0" size="0.004 0.0225" type="capsule" /> |
| <geom class="window_col" pos="-0.007 -0.0065 0" size="0.007 0.006 0.075" type="box" /> |
| <geom class="window_col" pos="-0.095 -0.0065 0" size="0.005 0.006 0.075" type="box" /> |
| <geom class="window_col" pos="-0.052 -0.0065 0.07" size="0.038 0.006 0.005" type="box" /> |
| <geom class="window_col" pos="-0.052 -0.0065 -0.07" size="0.038 0.006 0.005" type="box" /> |
| <geom class="window_col" pos="-0.052 -0.009 0" size="0.038 0.0005 0.065" type="box" /> |
| <geom class="window_col" pos="-0.052 -0.011 0" size="0.038 0.0015 0.0025" type="box" /> |
| <site class="window_base" name="handleOpenStart" pos="-0.02 -0.0475 0." size="0.0025" rgba="1 0 0 1"/> |
| <site class="window_base" name="handleCloseStart" pos="0.005 -0.0475 0." size="0.0025" rgba="0 1 0 1"/> |
| </body> |
| <body name="windowb_b" pos="0.05 0.0065 0"> |
| <geom class="window_base" material="window_red" mesh="windowa_h_frame"/> |
| <geom class="window_base" material="window_glass" mesh="windowa_h_glass" pos="0 -0.0025 0" /> |
| <geom class="window_col" pos="0 0 -0.07" size="0.04 0.006 0.005" type="box" /> |
| <geom class="window_col" pos="0 0 0.07" size="0.04 0.006 0.005" type="box" /> |
| <geom class="window_col" pos="0 -0.0025 0" size="0.04 0.0005 0.065" type="box" /> |
| <geom class="window_col" pos="0.0 -0.0045 0" size="0.04 0.0015 0.0025" type="box" /> |
| <geom class="window_col" pos="-0.045 0 0" size="0.005 0.006 0.075" type="box" /> |
| <geom class="window_col" pos="0.045 0 0" size="0.005 0.006 0.075" type="box" /> |
| </body> |
| </body> |
| <site rgba="0 0 0 0" size="0.00125" pos="0 0 -0.015" name="bottom_site" /> |
| <site rgba="0 0 0 0" size="0.00125" pos="0 0 0.015" name="top_site" /> |
| <site rgba="0 0 0 0" size="0.00125" pos="0.00375 0.00375 0" name="horizontal_radius_site" /> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
