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| <mesh name="robot0_link7_vis_0" file="robosuite/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_0.obj"/> |
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| <mesh name="robot0_link7_vis_5" file="robosuite/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_5.obj"/> |
| <mesh name="robot0_link7_vis_6" file="robosuite/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_6.obj"/> |
| <mesh name="robot0_link7_vis_7" file="robosuite/robosuite/models/assets/robots/panda/obj_meshes/link7_vis/link7_vis_7.obj"/> |
| <mesh name="mobilebase0_omron_0_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_0.obj"/> |
| <mesh name="mobilebase0_omron_1_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_1.obj"/> |
| <mesh name="mobilebase0_omron_2_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_2.obj"/> |
| <mesh name="mobilebase0_omron_3_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_3.obj"/> |
| <mesh name="mobilebase0_omron_4_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_4.obj"/> |
| <mesh name="mobilebase0_omron_5_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_5.obj"/> |
| <mesh name="mobilebase0_omron_6_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_6.obj"/> |
| <mesh name="mobilebase0_omron_7_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_7.obj"/> |
| <mesh name="gripper0_right_hand" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl"/> |
| <mesh name="gripper0_right_hand_vis" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/hand_vis.stl"/> |
| <mesh name="gripper0_right_finger" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl"/> |
| <mesh name="gripper0_right_finger_vis" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/finger_vis.stl"/> |
| <mesh name="gripper0_right_finger_vis2" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/finger_longer.stl"/> |
| <mesh name="outlet_room_outlet_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/outlets/simple_white/visuals/outlet_0.obj" scale="0.15 0.15 0.15"/> |
| <mesh name="outlet_2_room_outlet_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/outlets/simple_white/visuals/outlet_0.obj" scale="0.15 0.15 0.15"/> |
| <mesh name="light_switch_room_light_switch_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/light_switches/white_wide_switch/visuals/light_switch_0.obj" scale="0.15 0.15 0.15"/> |
| <mesh name="light_switch_2_room_light_switch_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/light_switches/white_wide_switch/visuals/light_switch_0.obj" scale="0.15 0.15 0.15"/> |
| <mesh name="utensil_rack_room_model_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/utensil_racks/metal/visuals/model_0.obj" scale="0.4 0.4 0.4"/> |
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| <mesh name="stovetop_main_group_model_0_vis" file="robocasa/robocasa/models/assets/fixtures/stovetops/sleek_silver_top_gas/visuals/model_0.obj" scale="0.808824 0.808824 0.808824"/> |
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| <mesh name="toaster_main_group_model_0_vis" file="robocasa/robocasa/models/assets/fixtures/toasters/basic_popup/visuals/model_0.obj" scale="0.3 0.3 0.3"/> |
| <mesh name="paper_towel_main_group_model_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/paper_towel_holders/holder_2/visuals/model_0.obj" scale="0.35 0.35 0.35"/> |
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| <mesh name="stool_1_island_group_model_1_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/stools/stool_1_2/visuals/model_1.obj"/> |
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| <mesh name="stool_2_island_group_model_1_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/stools/stool_1_2/visuals/model_1.obj"/> |
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| <mesh name="stool_3_island_group_model_1_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/stools/stool_1_2/visuals/model_1.obj"/> |
| <mesh name="stool_3_island_group_model_2_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/stools/stool_1_2/visuals/model_2.obj"/> |
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| <site name="top_main_group_int_pz" pos="-0.37 -0.36 0.32" rgba="1 0 1 0"/> |
| <site name="top_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="top_main_group_hingeleftdoor"> |
| <joint name="top_main_group_leftdoorhinge" pos="-0.385 -0.39 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="top_main_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="top_main_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="top_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="top_main_group_left_door_main" pos="-0.2 -0.375 0"> |
| <geom name="top_main_group_left_door_door" size="0.1985 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_left_door_door_visual" size="0.1985 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_left_door_mat"/> |
| <site name="top_main_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="top_main_group_left_door_handle_main" pos="0.1485 0 -0.1485"> |
| <geom name="top_main_group_left_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_left_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_left_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_left_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_left_door_handle_mat"/> |
| <geom name="top_main_group_left_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_left_door_handle_mat"/> |
| <geom name="top_main_group_left_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_left_door_handle_mat"/> |
| <site name="top_main_group_left_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| <body name="top_main_group_hingerightdoor"> |
| <joint name="top_main_group_rightdoorhinge" pos="0.385 -0.39 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="top_main_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="top_main_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="top_main_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="top_main_group_right_door_main" pos="0.2 -0.375 0"> |
| <geom name="top_main_group_right_door_door" size="0.1985 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_right_door_door_visual" size="0.1985 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_right_door_mat"/> |
| <site name="top_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="top_main_group_right_door_handle_main" pos="-0.1485 0 -0.1485"> |
| <geom name="top_main_group_right_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_right_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_right_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="top_main_group_right_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_right_door_handle_mat"/> |
| <geom name="top_main_group_right_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_right_door_handle_mat"/> |
| <geom name="top_main_group_right_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="top_main_group_right_door_handle_mat"/> |
| <site name="top_main_group_right_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="fridge_main_group_main" pos="-0.02 -0.438752 0.94"> |
| <geom name="fridge_main_group_g0" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001" solimp="0.998 0.998" density="100" material="fridge_main_group_TX_Fridge_3_1" mesh="fridge_main_group_model_0_vis"/> |
| <geom name="fridge_main_group_g1" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001" solimp="0.998 0.998" density="100" material="fridge_main_group_TX_Fridge_3_2" mesh="fridge_main_group_model_1_vis"/> |
| <geom name="fridge_main_group_g2" size="0.45 0.401002 0.94" pos="0 0.0197538 0" type="box" rgba="0.5 0 0 0.5"/> |
| <site name="fridge_main_group_default_site" pos="0 0 0" size="0.00363116" rgba="1 0 0 0"/> |
| </body> |
| <body name="fridge_housing_main_group_main" pos="-0.02 -0.39 0.95"> |
| <geom name="fridge_housing_main_group_top" size="0.47 0.38 0.01" pos="0 -0.01 0.94" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_housing_main_group_top_visual" size="0.47 0.38 0.01" pos="0 -0.01 0.94" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_housing_main_group_mat"/> |
| <geom name="fridge_housing_main_group_back" size="0.47 0.01 0.95" pos="0 0.38 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_housing_main_group_back_visual" size="0.47 0.01 0.95" pos="0 0.38 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_housing_main_group_mat"/> |
| <geom name="fridge_housing_main_group_left" size="0.01 0.38 0.94" pos="-0.46 -0.01 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_housing_main_group_left_visual" size="0.01 0.38 0.94" pos="-0.46 -0.01 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_housing_main_group_mat"/> |
| <geom name="fridge_housing_main_group_right" size="0.01 0.38 0.94" pos="0.46 -0.01 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_housing_main_group_right_visual" size="0.01 0.38 0.94" pos="0.46 -0.01 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_housing_main_group_mat"/> |
| <site name="fridge_housing_main_group_ext_p0" pos="-0.47 -0.39 -0.95" size="0.01" rgba="0 0 0 0"/> |
| <site name="fridge_housing_main_group_ext_px" pos="0.47 -0.39 -0.95" size="0.01" rgba="1 0 0 0"/> |
| <site name="fridge_housing_main_group_ext_py" pos="-0.47 0.39 -0.95" size="0.01" rgba="0 1 0 0"/> |
| <site name="fridge_housing_main_group_ext_pz" pos="-0.47 -0.39 0.95" size="0.01" rgba="0 0 1 0"/> |
| <site name="fridge_housing_main_group_int_p0" pos="-0.45 -0.43 -0.95" size="0.01" rgba="0.5 0.5 0.5 0"/> |
| <site name="fridge_housing_main_group_int_px" pos="0.45 -0.43 -0.95" size="0.01" rgba="1 1 0 0"/> |
| <site name="fridge_housing_main_group_int_py" pos="-0.45 0.37 -0.95" size="0.01" rgba="0 1 1 0"/> |
| <site name="fridge_housing_main_group_int_pz" pos="-0.45 -0.43 0.93" size="0.01" rgba="1 0 1 0"/> |
| <site name="fridge_housing_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| <body name="fridge_top_main_group_main" pos="-0.02 -0.39 2.25"> |
| <geom name="fridge_top_main_group_top" size="0.47 0.375 0.015" pos="0 0.015 0.335" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_bottom" size="0.47 0.375 0.015" pos="0 0.015 -0.335" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_back" size="0.44 0.015 0.32" pos="0 0.375 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_right" size="0.015 0.375 0.32" pos="0.455 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_left" size="0.015 0.375 0.32" pos="-0.455 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_shelf" size="0.44 0.34 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_top_visual" size="0.47 0.375 0.015" pos="0 0.015 0.335" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_mat"/> |
| <geom name="fridge_top_main_group_bottom_visual" size="0.47 0.375 0.015" pos="0 0.015 -0.335" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_mat"/> |
| <geom name="fridge_top_main_group_back_visual" size="0.44 0.015 0.32" pos="0 0.375 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_mat"/> |
| <geom name="fridge_top_main_group_right_visual" size="0.015 0.375 0.32" pos="0.455 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_mat"/> |
| <geom name="fridge_top_main_group_left_visual" size="0.015 0.375 0.32" pos="-0.455 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_mat"/> |
| <geom name="fridge_top_main_group_shelf_visual" size="0.44 0.34 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_mat"/> |
| <site name="fridge_top_main_group_ext_p0" pos="-0.47 -0.39 -0.35" rgba="0 0 0 0"/> |
| <site name="fridge_top_main_group_ext_px" pos="0.47 -0.39 -0.35" rgba="1 0 0 0"/> |
| <site name="fridge_top_main_group_ext_py" pos="-0.47 0.39 -0.35" rgba="0 1 0 0"/> |
| <site name="fridge_top_main_group_ext_pz" pos="-0.47 -0.39 0.35" rgba="0 0 1 0"/> |
| <site name="fridge_top_main_group_int_p0" pos="-0.44 -0.36 -0.32" rgba="0.5 0.5 0.5 0"/> |
| <site name="fridge_top_main_group_int_px" pos="0.44 -0.36 -0.32" rgba="1 1 0 0"/> |
| <site name="fridge_top_main_group_int_py" pos="-0.44 0.36 -0.32" rgba="0 1 1 0"/> |
| <site name="fridge_top_main_group_int_pz" pos="-0.44 -0.36 0.32" rgba="1 0 1 0"/> |
| <site name="fridge_top_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="fridge_top_main_group_hingeleftdoor"> |
| <joint name="fridge_top_main_group_leftdoorhinge" pos="-0.455 -0.39 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="fridge_top_main_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="fridge_top_main_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="fridge_top_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="fridge_top_main_group_left_door_main" pos="-0.235 -0.375 0"> |
| <geom name="fridge_top_main_group_left_door_door" size="0.2335 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_left_door_door_visual" size="0.2335 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_left_door_mat"/> |
| <site name="fridge_top_main_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="fridge_top_main_group_left_door_handle_main" pos="0.1835 0 -0.1485"> |
| <geom name="fridge_top_main_group_left_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_left_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_left_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_left_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_left_door_handle_mat"/> |
| <geom name="fridge_top_main_group_left_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_left_door_handle_mat"/> |
| <geom name="fridge_top_main_group_left_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_left_door_handle_mat"/> |
| <site name="fridge_top_main_group_left_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| <body name="fridge_top_main_group_hingerightdoor"> |
| <joint name="fridge_top_main_group_rightdoorhinge" pos="0.455 -0.39 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="fridge_top_main_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="fridge_top_main_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="fridge_top_main_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="fridge_top_main_group_right_door_main" pos="0.235 -0.375 0"> |
| <geom name="fridge_top_main_group_right_door_door" size="0.2335 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_right_door_door_visual" size="0.2335 0.3485 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_right_door_mat"/> |
| <site name="fridge_top_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="fridge_top_main_group_right_door_handle_main" pos="-0.1835 0 -0.1485"> |
| <geom name="fridge_top_main_group_right_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_right_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_right_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="fridge_top_main_group_right_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_right_door_handle_mat"/> |
| <geom name="fridge_top_main_group_right_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_right_door_handle_mat"/> |
| <geom name="fridge_top_main_group_right_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="fridge_top_main_group_right_door_handle_mat"/> |
| <site name="fridge_top_main_group_right_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="cab_main_main_group_main" pos="1.75 -0.2 1.85"> |
| <geom name="cab_main_main_group_top" size="0.5 0.185 0.015" pos="0 0.015 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_bottom" size="0.5 0.185 0.015" pos="0 0.015 -0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_back" size="0.47 0.015 0.43" pos="0 0.185 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_right" size="0.015 0.185 0.43" pos="0.485 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left" size="0.015 0.185 0.43" pos="-0.485 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_shelf" size="0.47 0.15 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_top_visual" size="0.5 0.185 0.015" pos="0 0.015 0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_mat"/> |
| <geom name="cab_main_main_group_bottom_visual" size="0.5 0.185 0.015" pos="0 0.015 -0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_mat"/> |
| <geom name="cab_main_main_group_back_visual" size="0.47 0.015 0.43" pos="0 0.185 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_mat"/> |
| <geom name="cab_main_main_group_right_visual" size="0.015 0.185 0.43" pos="0.485 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_mat"/> |
| <geom name="cab_main_main_group_left_visual" size="0.015 0.185 0.43" pos="-0.485 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_mat"/> |
| <geom name="cab_main_main_group_shelf_visual" size="0.47 0.15 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_mat"/> |
| <site name="cab_main_main_group_ext_p0" pos="-0.5 -0.2 -0.46" rgba="0 0 0 0"/> |
| <site name="cab_main_main_group_ext_px" pos="0.5 -0.2 -0.46" rgba="1 0 0 0"/> |
| <site name="cab_main_main_group_ext_py" pos="-0.5 0.2 -0.46" rgba="0 1 0 0"/> |
| <site name="cab_main_main_group_ext_pz" pos="-0.5 -0.2 0.46" rgba="0 0 1 0"/> |
| <site name="cab_main_main_group_int_p0" pos="-0.47 -0.17 -0.43" rgba="0.5 0.5 0.5 0"/> |
| <site name="cab_main_main_group_int_px" pos="0.47 -0.17 -0.43" rgba="1 1 0 0"/> |
| <site name="cab_main_main_group_int_py" pos="-0.47 0.17 -0.43" rgba="0 1 1 0"/> |
| <site name="cab_main_main_group_int_pz" pos="-0.47 -0.17 0.43" rgba="1 0 1 0"/> |
| <site name="cab_main_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_main_main_group_hingeleftdoor"> |
| <joint name="cab_main_main_group_leftdoorhinge" pos="-0.485 -0.2 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="cab_main_main_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_main_main_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_main_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_main_main_group_left_door_main" pos="-0.25 -0.185 0"> |
| <geom name="cab_main_main_group_left_door_door" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left_door_door_visual" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_left_door_mat"/> |
| <site name="cab_main_main_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_main_main_group_left_door_handle_main" pos="0.1985 0 -0.2585"> |
| <geom name="cab_main_main_group_left_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_left_door_handle_mat"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_left_door_handle_mat"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_left_door_handle_mat"/> |
| <site name="cab_main_main_group_left_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| <body name="cab_main_main_group_hingerightdoor"> |
| <joint name="cab_main_main_group_rightdoorhinge" pos="0.485 -0.2 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="cab_main_main_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_main_main_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_main_main_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_main_main_group_right_door_main" pos="0.25 -0.185 0"> |
| <geom name="cab_main_main_group_right_door_door" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_right_door_door_visual" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_right_door_mat"/> |
| <site name="cab_main_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_main_main_group_right_door_handle_main" pos="-0.1985 0 -0.2585"> |
| <geom name="cab_main_main_group_right_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_right_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_right_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_right_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_right_door_handle_mat"/> |
| <geom name="cab_main_main_group_right_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_right_door_handle_mat"/> |
| <geom name="cab_main_main_group_right_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_right_door_handle_mat"/> |
| <site name="cab_main_main_group_right_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="hood_main_group_main" pos="2.75 -0.329615 2.07441"> |
| <geom name="hood_main_group_g0" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001" solimp="0.998 0.998" density="100" material="hood_main_group_Hood_light" mesh="hood_main_group_model_0_vis"/> |
| <geom name="hood_main_group_g1" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001" solimp="0.998 0.998" density="100" material="hood_main_group_Hood_metal" mesh="hood_main_group_model_2_vis"/> |
| <site name="hood_main_group_default_site" pos="0 0 0" size="0.00161765" rgba="1 0 0 0"/> |
| </body> |
| <body name="shelves_main_group_main" pos="3.65 -0.2 1.85"> |
| <site name="shelves_main_group_ext_p0" pos="-0.8 -0.4 -0.92" size="0.01" rgba="0 0 0 0"/> |
| <site name="shelves_main_group_ext_px" pos="0.8 -0.4 -0.92" size="0.01" rgba="1 0 0 0"/> |
| <site name="shelves_main_group_ext_py" pos="-0.8 0.4 -0.92" size="0.01" rgba="0 1 0 0"/> |
| <site name="shelves_main_group_ext_pz" pos="-0.8 -0.4 0.92" size="0.01" rgba="0 0 1 0"/> |
| <site name="shelves_main_group_int_p0" pos="-0.74 -0.34 -0.86" size="0.01" rgba="0.5 0.5 0.5 0"/> |
| <site name="shelves_main_group_int_px" pos="0.74 -0.34 -0.86" size="0.01" rgba="1 1 0 0"/> |
| <site name="shelves_main_group_int_py" pos="-0.74 0.34 -0.86" size="0.01" rgba="0 1 1 0"/> |
| <site name="shelves_main_group_int_pz" pos="-0.74 -0.34 0.86" size="0.01" rgba="1 0 1 0"/> |
| <site name="shelves_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="shelves_main_group_hingecab"/> |
| <body name="shelves_main_group_shelf_0_main"> |
| <geom name="shelves_main_group_shelf_0_shelf" size="0.4 0.2 0.015" pos="0 0 -0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="shelves_main_group_shelf_0_shelf_visual" size="0.4 0.2 0.015" pos="0 0 -0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="shelves_main_group_shelf_0_mat"/> |
| <site name="shelves_main_group_shelf_0_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| <body name="shelves_main_group_shelf_1_main"> |
| <geom name="shelves_main_group_shelf_1_shelf" size="0.4 0.2 0.015" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="shelves_main_group_shelf_1_shelf_visual" size="0.4 0.2 0.015" type="box" contype="0" conaffinity="0" group="1" mass="0" material="shelves_main_group_shelf_1_mat"/> |
| <site name="shelves_main_group_shelf_1_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| <body name="cab_2_main_group_main" pos="4.55 -0.2 1.85"> |
| <geom name="cab_2_main_group_top" size="0.5 0.185 0.015" pos="0 0.015 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_bottom" size="0.5 0.185 0.015" pos="0 0.015 -0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_back" size="0.47 0.015 0.43" pos="0 0.185 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_right" size="0.015 0.185 0.43" pos="0.485 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_left" size="0.015 0.185 0.43" pos="-0.485 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_shelf" size="0.47 0.15 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_top_visual" size="0.5 0.185 0.015" pos="0 0.015 0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_mat"/> |
| <geom name="cab_2_main_group_bottom_visual" size="0.5 0.185 0.015" pos="0 0.015 -0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_mat"/> |
| <geom name="cab_2_main_group_back_visual" size="0.47 0.015 0.43" pos="0 0.185 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_mat"/> |
| <geom name="cab_2_main_group_right_visual" size="0.015 0.185 0.43" pos="0.485 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_mat"/> |
| <geom name="cab_2_main_group_left_visual" size="0.015 0.185 0.43" pos="-0.485 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_mat"/> |
| <geom name="cab_2_main_group_shelf_visual" size="0.47 0.15 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_mat"/> |
| <site name="cab_2_main_group_ext_p0" pos="-0.5 -0.2 -0.46" rgba="0 0 0 0"/> |
| <site name="cab_2_main_group_ext_px" pos="0.5 -0.2 -0.46" rgba="1 0 0 0"/> |
| <site name="cab_2_main_group_ext_py" pos="-0.5 0.2 -0.46" rgba="0 1 0 0"/> |
| <site name="cab_2_main_group_ext_pz" pos="-0.5 -0.2 0.46" rgba="0 0 1 0"/> |
| <site name="cab_2_main_group_int_p0" pos="-0.47 -0.17 -0.43" rgba="0.5 0.5 0.5 0"/> |
| <site name="cab_2_main_group_int_px" pos="0.47 -0.17 -0.43" rgba="1 1 0 0"/> |
| <site name="cab_2_main_group_int_py" pos="-0.47 0.17 -0.43" rgba="0 1 1 0"/> |
| <site name="cab_2_main_group_int_pz" pos="-0.47 -0.17 0.43" rgba="1 0 1 0"/> |
| <site name="cab_2_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_2_main_group_hingeleftdoor"> |
| <joint name="cab_2_main_group_leftdoorhinge" pos="-0.485 -0.2 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="cab_2_main_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_2_main_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_2_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_2_main_group_left_door_main" pos="-0.25 -0.185 0"> |
| <geom name="cab_2_main_group_left_door_door" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_left_door_door_visual" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_left_door_mat"/> |
| <site name="cab_2_main_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_2_main_group_left_door_handle_main" pos="0.1985 0 -0.2585"> |
| <geom name="cab_2_main_group_left_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_left_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_left_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_left_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_left_door_handle_mat"/> |
| <geom name="cab_2_main_group_left_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_left_door_handle_mat"/> |
| <geom name="cab_2_main_group_left_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_left_door_handle_mat"/> |
| <site name="cab_2_main_group_left_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| <body name="cab_2_main_group_hingerightdoor"> |
| <joint name="cab_2_main_group_rightdoorhinge" pos="0.485 -0.2 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="cab_2_main_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_2_main_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_2_main_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_2_main_group_right_door_main" pos="0.25 -0.185 0"> |
| <geom name="cab_2_main_group_right_door_door" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_right_door_door_visual" size="0.2485 0.4585 0.015" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_right_door_mat"/> |
| <site name="cab_2_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_2_main_group_right_door_handle_main" pos="-0.1985 0 -0.2585"> |
| <geom name="cab_2_main_group_right_door_handle_handle" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_right_door_handle_handle_connector_top" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_right_door_handle_handle_connector_bottom" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_main_group_right_door_handle_handle_visual" size="0.013 0.12" pos="0 -0.05 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_right_door_handle_mat"/> |
| <geom name="cab_2_main_group_right_door_handle_handle_connector_top_visual" size="0.008 0.025" pos="0 -0.025 0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_right_door_handle_mat"/> |
| <geom name="cab_2_main_group_right_door_handle_handle_connector_bottom_visual" size="0.008 0.025" pos="0 -0.025 -0.072" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_main_group_right_door_handle_mat"/> |
| <site name="cab_2_main_group_right_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="stack_3_main_group_base_main" pos="1.75 -0.265 0.025"> |
| <geom name="stack_3_main_group_base_g0" size="0.5 0.265 0.025" type="box" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_base_g0_vis" size="0.5 0.265 0.025" type="box" contype="0" conaffinity="0" group="1" mass="0" material="box_mat"/> |
| <site name="stack_3_main_group_base_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 -1"/> |
| </body> |
| <body name="stack_3_main_group_1_main" pos="1.75 -0.3 0.365"> |
| <geom name="stack_3_main_group_1_top" size="0.5 0.285 0.015" pos="0 0.015 0.3" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_1_bottom" size="0.5 0.285 0.015" pos="0 0.015 -0.3" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_1_back" size="0.47 0.015 0.285" pos="0 0.285 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_1_right" size="0.015 0.285 0.285" pos="0.485 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_1_left" size="0.015 0.285 0.285" pos="-0.485 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_1_shelf" size="0.47 0.25 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="stack_3_main_group_1_top_visual" size="0.5 0.285 0.015" pos="0 0.015 0.3" type="box" contype="0" conaffinity="0" group="1" mass="0" material="stack_3_main_group_1_mat"/> |
| <geom name="stack_3_main_group_1_bottom_visual" size="0.5 0.285 0.015" pos="0 0.015 -0.3" type="box" contype="0" conaffinity="0" group="1" mass="0" material="stack_3_main_group_1_mat"/> |
| <geom name="stack_3_main_group_1_back_visual" size="0.47 0.015 0.285" pos="0 0.285 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="stack_3_main_group_1_mat"/> |
| <geom name="stack_3_main_group_1_right_visual" size="0.015 0.285 0.285" pos="0.485 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="stack_3_main_group_1_mat"/> |
| <geom name="stack_3_main_group_1_left_visual" size="0.015 0.285 0.285" pos="-0.485 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="stack_3_main_group_1_mat"/> |
| <geom name="stack_3_main_group_1_shelf_visual" size="0.47 0.25 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="stack_3_main_group_1_mat"/> |
| <site name="stack_3_main_group_1_ext_p0" pos="-0.5 -0.3 -0.315" rgba="0 0 0 0"/> |
| <site name="stack_3_main_group_1_ext_px" pos="0.5 -0.3 -0.315" rgba="1 0 0 0"/> |
| <site name="stack_3_main_group_1_ext_py" pos="-0.5 0.3 -0.315" rgba="0 1 0 0"/> |
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| <geom name="drawer_obj_g30" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="drawer_obj_model_normalized_collision_10._coll"/> |
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| <geom name="drawer_obj_g32" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="drawer_obj_model_normalized_collision_13._coll"/> |
| <site name="drawer_obj_default_site" pos="0 0 0" size="0.0016" rgba="1 0 0 0"/> |
| </body> |
| <body name="distr_counter_1_main"> |
| <joint name="distr_counter_1_joint0" type="free" limited="false" actuatorfrclimited="false" damping="0.0005"/> |
| <geom name="distr_counter_1_g0" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" material="distr_counter_1_Material.027" mesh="distr_counter_1_model_normalized_0_vis"/> |
| <geom name="distr_counter_1_g1" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" material="distr_counter_1_PBR_Dielectric.001" mesh="distr_counter_1_model_normalized_1_vis"/> |
| <geom name="distr_counter_1_g2" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_22._coll"/> |
| <geom name="distr_counter_1_g3" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_23._coll"/> |
| <geom name="distr_counter_1_g4" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_21._coll"/> |
| <geom name="distr_counter_1_g5" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_20._coll"/> |
| <geom name="distr_counter_1_g6" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_24._coll"/> |
| <geom name="distr_counter_1_g7" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_30._coll"/> |
| <geom name="distr_counter_1_g8" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_18._coll"/> |
| <geom name="distr_counter_1_g9" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_19._coll"/> |
| <geom name="distr_counter_1_g10" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_31._coll"/> |
| <geom name="distr_counter_1_g11" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_25._coll"/> |
| <geom name="distr_counter_1_g12" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_27._coll"/> |
| <geom name="distr_counter_1_g13" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_26._coll"/> |
| <geom name="distr_counter_1_g14" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_9._coll"/> |
| <geom name="distr_counter_1_g15" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_8._coll"/> |
| <geom name="distr_counter_1_g16" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_6._coll"/> |
| <geom name="distr_counter_1_g17" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_7._coll"/> |
| <geom name="distr_counter_1_g18" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_5._coll"/> |
| <geom name="distr_counter_1_g19" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_4._coll"/> |
| <geom name="distr_counter_1_g20" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_0._coll"/> |
| <geom name="distr_counter_1_g21" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_1._coll"/> |
| <geom name="distr_counter_1_g22" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_3._coll"/> |
| <geom name="distr_counter_1_g23" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_2._coll"/> |
| <geom name="distr_counter_1_g24" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_17._coll"/> |
| <geom name="distr_counter_1_g25" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_16._coll"/> |
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| <geom name="distr_counter_1_g27" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_14._coll"/> |
| <geom name="distr_counter_1_g28" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_15._coll"/> |
| <geom name="distr_counter_1_g29" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_29._coll"/> |
| <geom name="distr_counter_1_g30" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_11._coll"/> |
| <geom name="distr_counter_1_g31" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_10._coll"/> |
| <geom name="distr_counter_1_g32" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_12._coll"/> |
| <geom name="distr_counter_1_g33" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_13._coll"/> |
| <site name="distr_counter_1_default_site" pos="0 0 0" size="0.0035" rgba="1 0 0 0"/> |
| </body> |
| <body name="distr_counter_2_main"> |
| <joint name="distr_counter_2_joint0" type="free" limited="false" actuatorfrclimited="false" damping="0.0005"/> |
| <geom name="distr_counter_2_g0" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" material="distr_counter_2_material.015" mesh="distr_counter_2_model_normalized_0_vis"/> |
| <geom name="distr_counter_2_g1" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_22._coll"/> |
| <geom name="distr_counter_2_g2" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_23._coll"/> |
| <geom name="distr_counter_2_g3" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_21._coll"/> |
| <geom name="distr_counter_2_g4" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_20._coll"/> |
| <geom name="distr_counter_2_g5" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_24._coll"/> |
| <geom name="distr_counter_2_g6" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_30._coll"/> |
| <geom name="distr_counter_2_g7" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_18._coll"/> |
| <geom name="distr_counter_2_g8" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_19._coll"/> |
| <geom name="distr_counter_2_g9" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_31._coll"/> |
| <geom name="distr_counter_2_g10" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_25._coll"/> |
| <geom name="distr_counter_2_g11" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_27._coll"/> |
| <geom name="distr_counter_2_g12" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_26._coll"/> |
| <geom name="distr_counter_2_g13" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_9._coll"/> |
| <geom name="distr_counter_2_g14" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_8._coll"/> |
| <geom name="distr_counter_2_g15" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_6._coll"/> |
| <geom name="distr_counter_2_g16" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_7._coll"/> |
| <geom name="distr_counter_2_g17" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_5._coll"/> |
| <geom name="distr_counter_2_g18" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_4._coll"/> |
| <geom name="distr_counter_2_g19" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_0._coll"/> |
| <geom name="distr_counter_2_g20" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_1._coll"/> |
| <geom name="distr_counter_2_g21" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_3._coll"/> |
| <geom name="distr_counter_2_g22" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_2._coll"/> |
| <geom name="distr_counter_2_g23" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_17._coll"/> |
| <geom name="distr_counter_2_g24" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_16._coll"/> |
| <geom name="distr_counter_2_g25" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_28._coll"/> |
| <geom name="distr_counter_2_g26" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_14._coll"/> |
| <geom name="distr_counter_2_g27" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_15._coll"/> |
| <geom name="distr_counter_2_g28" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_29._coll"/> |
| <geom name="distr_counter_2_g29" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_11._coll"/> |
| <geom name="distr_counter_2_g30" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_10._coll"/> |
| <geom name="distr_counter_2_g31" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_12._coll"/> |
| <geom name="distr_counter_2_g32" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_13._coll"/> |
| <site name="distr_counter_2_default_site" pos="0 0 0" size="0.0036" rgba="1 0 0 0"/> |
| </body> |
| </worldbody> |
|
|
| <actuator> |
| <general name="robot0_torq_j1" joint="robot0_joint1" ctrllimited="true" ctrlrange="-80 80"/> |
| <general name="robot0_torq_j2" joint="robot0_joint2" ctrllimited="true" ctrlrange="-80 80"/> |
| <general name="robot0_torq_j3" joint="robot0_joint3" ctrllimited="true" ctrlrange="-80 80"/> |
| <general name="robot0_torq_j4" joint="robot0_joint4" ctrllimited="true" ctrlrange="-80 80"/> |
| <general name="robot0_torq_j5" joint="robot0_joint5" ctrllimited="true" ctrlrange="-80 80"/> |
| <general name="robot0_torq_j6" joint="robot0_joint6" ctrllimited="true" ctrlrange="-12 12"/> |
| <general name="robot0_torq_j7" joint="robot0_joint7" ctrllimited="true" ctrlrange="-12 12"/> |
| <general name="mobilebase0_actuator_mobile_forward" joint="mobilebase0_joint_mobile_forward" ctrllimited="true" ctrlrange="-1 1" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1000" biasprm="0 0 -1000"/> |
| <general name="mobilebase0_actuator_mobile_side" joint="mobilebase0_joint_mobile_side" ctrllimited="true" ctrlrange="-1 1" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1000" biasprm="0 0 -1000"/> |
| <general name="mobilebase0_actuator_mobile_yaw" joint="mobilebase0_joint_mobile_yaw" ctrllimited="true" ctrlrange="-1.5 1.5" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1500" biasprm="0 0 -1500"/> |
| <general name="mobilebase0_actuator_torso_height" joint="mobilebase0_joint_torso_height" ctrllimited="true" ctrlrange="-100000 100000" forcelimited="false"/> |
| <general name="gripper0_right_gripper_finger_joint1" joint="gripper0_right_finger_joint1" ctrllimited="true" ctrlrange="0 0.04" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="1000" biasprm="0 -1000"/> |
| <general name="gripper0_right_gripper_finger_joint2" joint="gripper0_right_finger_joint2" ctrllimited="true" ctrlrange="-0.04 0" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="1000" biasprm="0 -1000"/> |
| </actuator> |
|
|
| <sensor> |
| <force site="gripper0_right_ft_frame" name="gripper0_right_force_ee"/> |
| <torque site="gripper0_right_ft_frame" name="gripper0_right_torque_ee"/> |
| </sensor> |
| </mujoco> |
|
|
