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| <mesh name="mobilebase0_omron_0_vis" file="robosuite/robosuite/models/assets/bases/meshes/omron_mobile_base/omron_0.obj"/> |
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| <mesh name="gripper0_right_hand" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/hand.stl"/> |
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| <mesh name="gripper0_right_finger" file="robosuite/robosuite/models/assets/grippers/meshes/panda_gripper/finger.stl"/> |
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| <geom name="fridge_left_group_g4" size="0.138602 0.0102914 0.053756" pos="-0.248772 -0.381809 0.31595" type="box" contype="0" conaffinity="0" group="1" material="fridge_left_group_Fridge"/> |
| <site name="fridge_left_group_default_site" pos="0 0 0" size="0.00355389" rgba="1 0 0 0"/> |
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| <body name="sink_left_group_main" pos="0.323974 -1.927 0.975341" quat="0.707105 0 0 0.707108"> |
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| <geom name="sink_left_group_g13" size="0.425697 0.0255418 0.0127709" pos="0 -0.248607 -0.0681115" type="box" rgba="0.5 0 0 0.5"/> |
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| <geom name="sink_left_group_g16" size="0.023839 0.0425697" pos="-0.119195 0.224342 -0.0170279" type="cylinder" rgba="0.5 0 0 0.5"/> |
| <geom name="sink_left_group_g17" size="0.0161765 0.023839" pos="-0.119195 0.224342 0.0587461" type="cylinder" rgba="0.5 0 0 0.5"/> |
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| <site name="sink_left_group_default_site" pos="0 0 0" size="0.00170279" rgba="1 0 0 0"/> |
| <body name="sink_left_group_spout"> |
| <joint name="sink_left_group_spout_joint" pos="-0.119195 0.223916 0.0834365" axis="0 0 1" limited="true" range="-1.57 1.57" damping="10"/> |
| <geom name="sink_left_group_g20" 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="sink_left_group_fr_act_plus_perlator_chro" mesh="sink_left_group_spout_0_vis"/> |
| <geom name="sink_left_group_g21" 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="sink_left_group_fr_act_plus_chro" mesh="sink_left_group_spout_1_vis"/> |
| <geom name="sink_left_group_g22" 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="sink_left_group_fr_act_plus_surface" mesh="sink_left_group_spout_2_vis"/> |
| <geom name="sink_left_group_g23" size="0.0161765 0.0706656" pos="-0.119195 0.224342 0.153251" type="cylinder" rgba="0.5 0 0 0.5"/> |
| <geom name="sink_left_group_g24" size="0.0161765 0.0340557" pos="-0.119195 0.208591 0.246904" quat="0.922997 0.384808 0 0" type="cylinder" rgba="0.5 0 0 0.5"/> |
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| <site name="sink_left_group_water" pos="-0.119195 -0.0127709 0" size="0.00851393 0.255418" type="cylinder" rgba="0.5 0.75 1 0"/> |
| </body> |
| <body name="sink_left_group_handle"> |
| <joint name="sink_left_group_handle_temp_joint" pos="-0.0595124 0.224342 0.0200077" axis="1 0 0" limited="true" range="-0.79 0.79" damping="50"/> |
| <joint name="sink_left_group_handle_joint" pos="-0.0595124 0.224342 0.0340557" axis="0 1 0" limited="true" range="0 0.52" damping="10"/> |
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| <geom name="sink_left_group_g29" size="0.023839 0.0144737" pos="-0.0451238 0.224342 0.0200077" quat="0.707388 0 0.706825 0" type="cylinder" rgba="0.5 0 0 0.5"/> |
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| </body> |
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| <geom name="counter_left_group_base_right" size="0.01 0.01 0.01" pos="0 0 10" type="box" density="10" rgba="0 0 0 0"/> |
| <geom name="counter_left_group_base_left" size="0.01 0.01 0.01" pos="0 0 10" type="box" density="10" rgba="0 0 0 0"/> |
| <geom name="counter_left_group_base_back" size="0.01 0.01 0.01" pos="0 0 10" type="box" density="10" rgba="0 0 0 0"/> |
| <geom name="counter_left_group_base_front" size="0.01 0.01 0.01" pos="0 0 10" type="box" density="10" rgba="0 0 0 0"/> |
| <geom name="counter_left_group_base_right_visual" size="0.01 0.01 0.01" pos="0 0 10" type="box" contype="0" conaffinity="0" group="1" mass="0" material="counter_left_group_counter_base" rgba="0 0 0 0"/> |
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| <geom name="counter_left_group_top_left_2" size="0.25 0.325 0.015" pos="-0.65 0 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="counter_left_group_top_left_3" size="0.25 0.325 0.015" pos="-0.15 0 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="counter_left_group_top_left_4" size="0.183652 0.325 0.015" pos="0.283652 0 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <geom name="counter_left_group_top_right_1" size="0.0406517 0.325 0.015" pos="1.85935 0 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <geom name="counter_left_group_top_back_0" size="0.25 0.0125 0.015" pos="0.717303 0.3125 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="counter_left_group_top_back_1" size="0.175697 0.0125 0.015" pos="1.143 0.3125 0.445" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <site name="counter_left_group_ext_px" pos="1.9 -0.275 -0.46" size="0.01" rgba="1 0 0 0"/> |
| <site name="counter_left_group_ext_py" pos="-1.9 0.325 -0.46" size="0.01" rgba="0 1 0 0"/> |
| <site name="counter_left_group_ext_pz" pos="-1.9 -0.275 0.46" size="0.01" rgba="0 0 1 0"/> |
| <site name="counter_left_group_int_p0" pos="0 0 0" size="0.01" rgba="0.5 0.5 0.5 0"/> |
| <site name="counter_left_group_int_px" pos="0 0 0" size="0.01" rgba="1 1 0 0"/> |
| <site name="counter_left_group_int_py" pos="0 0 0" size="0.01" rgba="0 1 1 0"/> |
| <site name="counter_left_group_int_pz" pos="0 0 0" size="0.01" rgba="1 0 1 0"/> |
| <site name="counter_left_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
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| <geom name="cab_1_left_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_1_left_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_1_left_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_1_left_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_1_left_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_1_left_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_1_left_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_1_left_group_mat"/> |
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| <geom name="cab_1_left_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_1_left_group_mat"/> |
| <geom name="cab_1_left_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_1_left_group_mat"/> |
| <geom name="cab_1_left_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_1_left_group_mat"/> |
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| <site name="cab_1_left_group_ext_px" pos="0.5 -0.2 -0.46" rgba="1 0 0 0"/> |
| <site name="cab_1_left_group_ext_py" pos="-0.5 0.2 -0.46" rgba="0 1 0 0"/> |
| <site name="cab_1_left_group_ext_pz" pos="-0.5 -0.2 0.46" rgba="0 0 1 0"/> |
| <site name="cab_1_left_group_int_p0" pos="-0.47 -0.17 -0.43" rgba="0.5 0.5 0.5 0"/> |
| <site name="cab_1_left_group_int_px" pos="0.47 -0.17 -0.43" rgba="1 1 0 0"/> |
| <site name="cab_1_left_group_int_py" pos="-0.47 0.17 -0.43" rgba="0 1 1 0"/> |
| <site name="cab_1_left_group_int_pz" pos="-0.47 -0.17 0.43" rgba="1 0 1 0"/> |
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| <body name="cab_1_left_group_hingeleftdoor"> |
| <joint name="cab_1_left_group_leftdoorhinge" pos="-0.485 -0.2 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
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| <site name="cab_1_left_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_1_left_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
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| <site name="cab_1_left_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_1_left_group_left_door_trims"> |
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| <geom name="cab_1_left_group_left_door_trim_bottom" size="0.1685 0.04 0.01" pos="0 -0.0025 -0.4185" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_left_group_left_door_trim_left" size="0.04 0.4585 0.01" pos="-0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_left_group_left_door_trim_right" size="0.04 0.4585 0.01" pos="0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_left_group_left_door_trim_top_visual" size="0.1685 0.04 0.01" pos="0 -0.0025 0.4185" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_left_group_left_door_mat"/> |
| <geom name="cab_1_left_group_left_door_trim_bottom_visual" size="0.1685 0.04 0.01" pos="0 -0.0025 -0.4185" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_left_group_left_door_mat"/> |
| <geom name="cab_1_left_group_left_door_trim_left_visual" size="0.04 0.4585 0.01" pos="-0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_left_group_left_door_mat"/> |
| <geom name="cab_1_left_group_left_door_trim_right_visual" size="0.04 0.4585 0.01" pos="0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_left_group_left_door_mat"/> |
| </body> |
| <body name="cab_1_left_group_left_door_handle_main" pos="0.1985 0 -0.2585"> |
| <geom name="cab_1_left_group_left_door_handle_handle" size="0.01 0.01 0.12" pos="0 -0.05 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_left_group_left_door_handle_handle_connector_top" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <site name="counter_right_main_group_ext_px" pos="1 -0.275 -0.46" size="0.01" rgba="1 0 0 0"/> |
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| <site name="counter_right_main_group_int_pz" pos="0 0 0" size="0.01" rgba="1 0 1 0"/> |
| <site name="counter_right_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
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| <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"/> |
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| <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"/> |
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| <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"> |
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| <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_trims"> |
| <geom name="cab_main_main_group_left_door_trim_top" size="0.1685 0.04 0.01" pos="0 -0.0025 0.4185" 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_trim_bottom" size="0.1685 0.04 0.01" pos="0 -0.0025 -0.4185" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <geom name="cab_main_main_group_left_door_trim_right" size="0.04 0.4585 0.01" pos="0.2085 -0.0025 0" 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_trim_top_visual" size="0.1685 0.04 0.01" pos="0 -0.0025 0.4185" 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"/> |
| <geom name="cab_main_main_group_left_door_trim_bottom_visual" size="0.1685 0.04 0.01" pos="0 -0.0025 -0.4185" 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"/> |
| <geom name="cab_main_main_group_left_door_trim_left_visual" size="0.04 0.4585 0.01" pos="-0.2085 -0.0025 0" 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"/> |
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| </body> |
| <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="0.01 0.01 0.12" pos="0 -0.05 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_connector_top" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_left_door_handle_handle_connector_bottom" size="0.01 0.01 0.015" pos="0 -0.025 -0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <geom name="cab_main_main_group_left_door_handle_handle_connector_top_visual" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_main_main_group_left_door_handle_mat"/> |
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| <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"/> |
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| <site name="cab_main_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
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| <body name="cab_main_main_group_right_door_handle_main" pos="-0.1985 0 -0.2585"> |
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| <geom name="cab_main_main_group_right_door_handle_handle_connector_top" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_main_main_group_right_door_handle_handle_connector_bottom" size="0.01 0.01 0.015" pos="0 -0.025 -0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <site name="cab_main_main_group_right_door_handle_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
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| </body> |
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| <geom name="cab_1_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"/> |
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| <geom name="cab_1_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_1_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_1_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_1_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_1_main_group_mat"/> |
| <geom name="cab_1_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_1_main_group_mat"/> |
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| <geom name="cab_1_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_1_main_group_mat"/> |
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| <geom name="cab_1_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_1_main_group_mat"/> |
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| <site name="cab_1_main_group_ext_px" pos="0.5 -0.2 -0.46" rgba="1 0 0 0"/> |
| <site name="cab_1_main_group_ext_py" pos="-0.5 0.2 -0.46" rgba="0 1 0 0"/> |
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| <site name="cab_1_main_group_int_px" pos="0.47 -0.17 -0.43" rgba="1 1 0 0"/> |
| <site name="cab_1_main_group_int_py" pos="-0.47 0.17 -0.43" rgba="0 1 1 0"/> |
| <site name="cab_1_main_group_int_pz" pos="-0.47 -0.17 0.43" rgba="1 0 1 0"/> |
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| <joint name="cab_1_main_group_leftdoorhinge" pos="-0.485 -0.2 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="cab_1_main_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_1_main_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_1_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
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| <site name="cab_1_main_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
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| <body name="cab_1_main_group_left_door_handle_main" pos="0.1985 0 -0.2585"> |
| <geom name="cab_1_main_group_left_door_handle_handle" size="0.01 0.01 0.12" pos="0 -0.05 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_left_door_handle_handle_connector_top" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_left_door_handle_handle_connector_bottom" size="0.01 0.01 0.015" pos="0 -0.025 -0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_left_door_handle_handle_visual" size="0.01 0.01 0.12" pos="0 -0.05 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_left_door_handle_mat"/> |
| <geom name="cab_1_main_group_left_door_handle_handle_connector_top_visual" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_left_door_handle_mat"/> |
| <geom name="cab_1_main_group_left_door_handle_handle_connector_bottom_visual" size="0.01 0.01 0.015" pos="0 -0.025 -0.11" quat="0.707107 0.707107 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_left_door_handle_mat"/> |
| <site name="cab_1_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_1_main_group_hingerightdoor"> |
| <joint name="cab_1_main_group_rightdoorhinge" pos="0.485 -0.2 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="cab_1_main_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_1_main_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_1_main_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_1_main_group_right_door_main" pos="0.25 -0.185 0"> |
| <geom name="cab_1_main_group_right_door_door" size="0.1685 0.3785 0.005" pos="0 0.005 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_door_visual" size="0.1685 0.3785 0.005" pos="0 0.005 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_transparent_material"/> |
| <site name="cab_1_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_1_main_group_right_door_trims"> |
| <geom name="cab_1_main_group_right_door_trim_top" size="0.1685 0.04 0.01" pos="0 -0.0025 0.4185" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_trim_bottom" size="0.1685 0.04 0.01" pos="0 -0.0025 -0.4185" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_trim_left" size="0.04 0.4585 0.01" pos="-0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_trim_right" size="0.04 0.4585 0.01" pos="0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_trim_top_visual" size="0.1685 0.04 0.01" pos="0 -0.0025 0.4185" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_mat"/> |
| <geom name="cab_1_main_group_right_door_trim_bottom_visual" size="0.1685 0.04 0.01" pos="0 -0.0025 -0.4185" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_mat"/> |
| <geom name="cab_1_main_group_right_door_trim_left_visual" size="0.04 0.4585 0.01" pos="-0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_mat"/> |
| <geom name="cab_1_main_group_right_door_trim_right_visual" size="0.04 0.4585 0.01" pos="0.2085 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_mat"/> |
| </body> |
| <body name="cab_1_main_group_right_door_handle_main" pos="-0.1985 0 -0.2585"> |
| <geom name="cab_1_main_group_right_door_handle_handle" size="0.01 0.01 0.12" pos="0 -0.05 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_handle_handle_connector_top" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_handle_handle_connector_bottom" size="0.01 0.01 0.015" pos="0 -0.025 -0.11" quat="0.707107 0.707107 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_1_main_group_right_door_handle_handle_visual" size="0.01 0.01 0.12" pos="0 -0.05 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_handle_mat"/> |
| <geom name="cab_1_main_group_right_door_handle_handle_connector_top_visual" size="0.01 0.01 0.015" pos="0 -0.025 0.11" quat="0.707107 0.707107 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_handle_mat"/> |
| <geom name="cab_1_main_group_right_door_handle_handle_connector_bottom_visual" size="0.01 0.01 0.015" pos="0 -0.025 -0.11" quat="0.707107 0.707107 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_1_main_group_right_door_handle_mat"/> |
| <site name="cab_1_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="microwave_main_group_main" pos="2.95181 -2.384 1.60308" quat="0.707105 0 0 -0.707108"> |
| <geom name="microwave_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="microwave_main_group_Oven" mesh="microwave_main_group_microwave2_0_vis"/> |
| <geom name="microwave_main_group_g1" size="0.376471 0.0174545 0.225882" pos="0 0.225 0" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g2" size="0.376471 0.192 0.0338824" pos="0 0.0409091 -0.192" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g3" size="0.376471 0.192 0.0263529" pos="0 0.0409091 0.207059" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g4" size="0.0301176 0.192 0.225882" pos="-0.353882 0.0409091 0" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g5" size="0.0903529 0.192 0.225882" pos="0.286118 0.0409091 0" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g6" size="0.0715294 0.0275455 0.218353" pos="0.304941 -0.177273 0.0112941" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_start_button" size="0.0225882 0.0278182 0.0188235" pos="0.335059 -0.177273 -0.0903529" type="box" rgba="0 0.5 0 0.5"/> |
| <geom name="microwave_main_group_stop_button" size="0.0225882 0.0278182 0.0188235" pos="0.274824 -0.177273 -0.0903529" type="box" rgba="0 0.5 0 0.5"/> |
| <geom name="microwave_main_group_tray" size="0.162299 0.00376471" pos="-0.0677647 0.0272727 -0.158118" type="cylinder" rgba="0 1 0 0.5"/> |
| <site name="microwave_main_group_ext_p0" pos="-0.384 -0.201818 -0.213082" size="0.00683779" rgba="1 1 1 0"/> |
| <site name="microwave_main_group_ext_px" pos="0.384 -0.201818 -0.213082" size="0.00683779" rgba="1 0 0 0"/> |
| <site name="microwave_main_group_ext_py" pos="-0.384 0.248182 -0.213082" size="0.00683779" rgba="0 1 0 0"/> |
| <site name="microwave_main_group_ext_pz" pos="-0.384 -0.201818 0.229647" size="0.00683779" rgba="0 0 1 0"/> |
| <site name="microwave_main_group_int_p0" pos="-0.323765 -0.147273 -0.150588" size="0.00683779" rgba="0.5 0.5 0.5 0"/> |
| <site name="microwave_main_group_int_px" pos="0.195765 -0.147273 -0.150588" size="0.00683779" rgba="1 1 0 0"/> |
| <site name="microwave_main_group_int_py" pos="-0.323765 0.201818 -0.150588" size="0.00683779" rgba="0 1 1 0"/> |
| <site name="microwave_main_group_int_pz" pos="-0.323765 -0.147273 0.180706" size="0.00683779" rgba="1 0 1 0"/> |
| <site name="microwave_main_group_default_site" pos="0 0 0" size="0.00150588" rgba="1 0 0 0"/> |
| <body name="microwave_main_group_door"> |
| <joint name="microwave_main_group_microjoint" pos="-0.338824 -0.200182 0" axis="0 0 1" limited="true" range="-90 0" armature="0.01" damping="2" frictionloss="2"/> |
| <geom name="microwave_main_group_g10" 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="microwave_main_group_Oven" mesh="microwave_main_group_microwave2_door_0_vis"/> |
| <geom name="microwave_main_group_g11" size="0.286118 0.0218182 0.210824" pos="-0.0564706 -0.178364 0.00752941" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g12" size="0.0225882 0.0207273 0.0158118" pos="0.203294 -0.220909 0.135529" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_g13" size="0.0225882 0.0207273 0.0158118" pos="0.203294 -0.220909 -0.112941" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_main_group_door_handle" size="0.0225882 0.00872727 0.135529" pos="0.203294 -0.234545 0.0135529" type="box" rgba="0.5 0 0 0.5"/> |
| <site name="microwave_main_group_door_p1" pos="-0.0564706 -0.201818 0.00752941" size="0.00341889" rgba="1 0 0 0"/> |
| <site name="microwave_main_group_door_p2" pos="-0.0188235 -0.201818 0.00752941" size="0.00341889" rgba="0 1 0 0"/> |
| <site name="microwave_main_group_door_p3" pos="-0.0564706 -0.201818 0.0451765" size="0.00341889" rgba="0 0 1 0"/> |
| </body> |
| </body> |
| <body name="cab_micro_main_group_main" pos="2.99999 -2.384 2.07136" quat="0.707105 0 0 -0.707108"> |
| <geom name="cab_micro_main_group_top" size="0.384 0.185 0.015" pos="0 0.015 0.223635" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_bottom" size="0.384 0.185 0.015" pos="0 0.015 -0.223635" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_back" size="0.354 0.015 0.208635" pos="0 0.185 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_right" size="0.015 0.185 0.208635" pos="0.369 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left" size="0.015 0.185 0.208635" pos="-0.369 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_shelf" size="0.354 0.15 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_top_visual" size="0.384 0.185 0.015" pos="0 0.015 0.223635" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_mat"/> |
| <geom name="cab_micro_main_group_bottom_visual" size="0.384 0.185 0.015" pos="0 0.015 -0.223635" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_mat"/> |
| <geom name="cab_micro_main_group_back_visual" size="0.354 0.015 0.208635" pos="0 0.185 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_mat"/> |
| <geom name="cab_micro_main_group_right_visual" size="0.015 0.185 0.208635" pos="0.369 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_mat"/> |
| <geom name="cab_micro_main_group_left_visual" size="0.015 0.185 0.208635" pos="-0.369 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_mat"/> |
| <geom name="cab_micro_main_group_shelf_visual" size="0.354 0.15 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_mat"/> |
| <site name="cab_micro_main_group_ext_p0" pos="-0.384 -0.2 -0.238635" rgba="0 0 0 0"/> |
| <site name="cab_micro_main_group_ext_px" pos="0.384 -0.2 -0.238635" rgba="1 0 0 0"/> |
| <site name="cab_micro_main_group_ext_py" pos="-0.384 0.2 -0.238635" rgba="0 1 0 0"/> |
| <site name="cab_micro_main_group_ext_pz" pos="-0.384 -0.2 0.238635" rgba="0 0 1 0"/> |
| <site name="cab_micro_main_group_int_p0" pos="-0.354 -0.17 -0.208635" rgba="0.5 0.5 0.5 0"/> |
| <site name="cab_micro_main_group_int_px" pos="0.354 -0.17 -0.208635" rgba="1 1 0 0"/> |
| <site name="cab_micro_main_group_int_py" pos="-0.354 0.17 -0.208635" rgba="0 1 1 0"/> |
| <site name="cab_micro_main_group_int_pz" pos="-0.354 -0.17 0.208635" rgba="1 0 1 0"/> |
| <site name="cab_micro_main_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_micro_main_group_hingeleftdoor"> |
| <joint name="cab_micro_main_group_leftdoorhinge" pos="-0.369 -0.2 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="cab_micro_main_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_micro_main_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_micro_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_micro_main_group_left_door_main" pos="-0.192 -0.185 0"> |
| <geom name="cab_micro_main_group_left_door_door" size="0.1105 0.157135 0.005" pos="0 0.005 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left_door_door_visual" size="0.1105 0.157135 0.005" pos="0 0.005 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_left_door_transparent_material"/> |
| <site name="cab_micro_main_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_micro_main_group_left_door_trims"> |
| <geom name="cab_micro_main_group_left_door_trim_top" size="0.1105 0.04 0.01" pos="0 -0.0025 0.197135" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left_door_trim_bottom" size="0.1105 0.04 0.01" pos="0 -0.0025 -0.197135" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left_door_trim_left" size="0.04 0.237135 0.01" pos="-0.1505 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left_door_trim_right" size="0.04 0.237135 0.01" pos="0.1505 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left_door_trim_top_visual" size="0.1105 0.04 0.01" pos="0 -0.0025 0.197135" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_left_door_mat"/> |
| <geom name="cab_micro_main_group_left_door_trim_bottom_visual" size="0.1105 0.04 0.01" pos="0 -0.0025 -0.197135" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_left_door_mat"/> |
| <geom name="cab_micro_main_group_left_door_trim_left_visual" size="0.04 0.237135 0.01" pos="-0.1505 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_left_door_mat"/> |
| <geom name="cab_micro_main_group_left_door_trim_right_visual" size="0.04 0.237135 0.01" pos="0.1505 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_left_door_mat"/> |
| </body> |
| <body name="cab_micro_main_group_left_door_handle_main" pos="0.1405 0 -0.187135"> |
| <geom name="cab_micro_main_group_left_door_handle_handle" size="0.015 0.017" pos="0 -0.017 0" quat="0.707107 0.707107 0 0" type="cylinder" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_left_door_handle_handle_visual" size="0.015 0.017" pos="0 -0.017 0" quat="0.707107 0.707107 0 0" type="cylinder" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_left_door_handle_mat"/> |
| <site name="cab_micro_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_micro_main_group_hingerightdoor"> |
| <joint name="cab_micro_main_group_rightdoorhinge" pos="0.369 -0.2 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="cab_micro_main_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_micro_main_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_micro_main_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_micro_main_group_right_door_main" pos="0.192 -0.185 0"> |
| <geom name="cab_micro_main_group_right_door_door" size="0.1105 0.157135 0.005" pos="0 0.005 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_right_door_door_visual" size="0.1105 0.157135 0.005" pos="0 0.005 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_main_group_right_door_transparent_material"/> |
| <site name="cab_micro_main_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_micro_main_group_right_door_trims"> |
| <geom name="cab_micro_main_group_right_door_trim_top" size="0.1105 0.04 0.01" pos="0 -0.0025 0.197135" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_right_door_trim_bottom" size="0.1105 0.04 0.01" pos="0 -0.0025 -0.197135" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_main_group_right_door_trim_left" size="0.04 0.237135 0.01" pos="-0.1505 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
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| <geom name="distr_counter_3_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_3_model_normalized_collision_17._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_16._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_28._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_14._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_15._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_29._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_11._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_10._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_12._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_13._coll"/> |
| <site name="distr_counter_3_default_site" pos="0 0 0" size="0.0025" 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> |
|
|
