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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="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="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"/> |
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| <mesh name="utensil_rack_room_model_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/utensil_racks/black_plastic/visuals/model_0.obj" scale="0.4 0.4 0.4"/> |
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| <mesh name="plant_main_group_model_0_vis" file="robocasa/robocasa/models/assets/fixtures/accessories/plants/aloe/visuals/model_0.obj" scale="0.3 0.3 0.3"/> |
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| <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"/> |
| <body name="cab_1_main_group_left_door_trims"> |
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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"/> |
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| <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"/> |
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| </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"/> |
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| <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"> |
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| </body> |
| </body> |
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| <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"/> |
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| <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"/> |
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| <site name="cab_2_main_group_ext_px" pos="0.5 -0.2 -0.46" rgba="1 0 0 0"/> |
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| <site name="cab_2_main_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
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| </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"/> |
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| <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_trims"> |
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| </body> |
| <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="0.01 0.01 0.12" pos="0 -0.05 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_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_2_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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| <geom name="cab_2_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_2_main_group_right_door_handle_mat"/> |
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| <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> |
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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"/> |
| <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"/> |
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| <geom name="cab_main_main_group_left_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"/> |
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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"> |
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| <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"/> |
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| <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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| </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"/> |
| <body name="cab_main_main_group_right_door_trims"> |
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| <body name="microwave_right_group_door"> |
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| <geom name="microwave_right_group_g26" 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_right_group_Hold" mesh="microwave_right_group_door_5_vis"/> |
| <geom name="microwave_right_group_g27" size="0.284092 0.0158824 0.198864" pos="-0.0515851 -0.194559 0.0149522" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_right_group_g28" size="0.0209331 0.0132353 0.0156998" pos="0.198491 -0.215074 0.17195" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_right_group_g29" size="0.0209331 0.0132353 0.0156998" pos="0.198491 -0.215074 -0.142046" type="box" rgba="0.5 0 0 0.5"/> |
| <geom name="microwave_right_group_door_handle" size="0.0209331 0.0105882 0.156998" pos="0.198491 -0.228309 0.0149522" type="box" rgba="0.5 0 0 0.5"/> |
| <site name="microwave_right_group_door_p1" pos="-0.0560708 -0.205147 0.00747611" size="0.00359498" rgba="1 0 0 0"/> |
| <site name="microwave_right_group_door_p2" pos="-0.0186903 -0.205147 0.00747611" size="0.00359498" rgba="0 1 0 0"/> |
| <site name="microwave_right_group_door_p3" pos="-0.0560708 -0.205147 0.0448566" size="0.00359498" rgba="0 0 1 0"/> |
| </body> |
| </body> |
| <body name="cab_micro_right_group_main" pos="5 -1.5238 2.05372" quat="0.707105 0 0 -0.707108"> |
| <geom name="cab_micro_right_group_top" size="0.373805 0.185 0.015" pos="0 0.015 0.241276" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_bottom" size="0.373805 0.185 0.015" pos="0 0.015 -0.241276" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_back" size="0.343805 0.015 0.226276" pos="0 0.185 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_right" size="0.015 0.185 0.226276" pos="0.358805 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_left" size="0.015 0.185 0.226276" pos="-0.358805 0.015 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_shelf" size="0.343805 0.15 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_top_visual" size="0.373805 0.185 0.015" pos="0 0.015 0.241276" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_mat"/> |
| <geom name="cab_micro_right_group_bottom_visual" size="0.373805 0.185 0.015" pos="0 0.015 -0.241276" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_mat"/> |
| <geom name="cab_micro_right_group_back_visual" size="0.343805 0.015 0.226276" pos="0 0.185 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_mat"/> |
| <geom name="cab_micro_right_group_right_visual" size="0.015 0.185 0.226276" pos="0.358805 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_mat"/> |
| <geom name="cab_micro_right_group_left_visual" size="0.015 0.185 0.226276" pos="-0.358805 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_mat"/> |
| <geom name="cab_micro_right_group_shelf_visual" size="0.343805 0.15 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_mat"/> |
| <site name="cab_micro_right_group_ext_p0" pos="-0.373805 -0.2 -0.256276" rgba="0 0 0 0"/> |
| <site name="cab_micro_right_group_ext_px" pos="0.373805 -0.2 -0.256276" rgba="1 0 0 0"/> |
| <site name="cab_micro_right_group_ext_py" pos="-0.373805 0.2 -0.256276" rgba="0 1 0 0"/> |
| <site name="cab_micro_right_group_ext_pz" pos="-0.373805 -0.2 0.256276" rgba="0 0 1 0"/> |
| <site name="cab_micro_right_group_int_p0" pos="-0.343805 -0.17 -0.226276" rgba="0.5 0.5 0.5 0"/> |
| <site name="cab_micro_right_group_int_px" pos="0.343805 -0.17 -0.226276" rgba="1 1 0 0"/> |
| <site name="cab_micro_right_group_int_py" pos="-0.343805 0.17 -0.226276" rgba="0 1 1 0"/> |
| <site name="cab_micro_right_group_int_pz" pos="-0.343805 -0.17 0.226276" rgba="1 0 1 0"/> |
| <site name="cab_micro_right_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_micro_right_group_hingeleftdoor"> |
| <joint name="cab_micro_right_group_leftdoorhinge" pos="-0.358805 -0.2 0" axis="0 0 1" limited="true" range="-3 0" damping="2"/> |
| <site name="cab_micro_right_group_leftdoor_p1" pos="-0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_micro_right_group_leftdoor_p2" pos="-0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_micro_right_group_leftdoor_p3" pos="-0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_micro_right_group_left_door_main" pos="-0.186903 -0.185 0"> |
| <geom name="cab_micro_right_group_left_door_door" size="0.105403 0.174776 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_right_group_left_door_door_visual" size="0.105403 0.174776 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_right_group_left_door_transparent_material"/> |
| <site name="cab_micro_right_group_left_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_micro_right_group_left_door_trims"> |
| <geom name="cab_micro_right_group_left_door_trim_top" size="0.105403 0.04 0.01" pos="0 -0.0025 0.214776" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_left_door_trim_bottom" size="0.105403 0.04 0.01" pos="0 -0.0025 -0.214776" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_left_door_trim_left" size="0.04 0.254776 0.01" pos="-0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_left_door_trim_right" size="0.04 0.254776 0.01" pos="0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_left_door_trim_top_visual" size="0.105403 0.04 0.01" pos="0 -0.0025 0.214776" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_left_door_mat"/> |
| <geom name="cab_micro_right_group_left_door_trim_bottom_visual" size="0.105403 0.04 0.01" pos="0 -0.0025 -0.214776" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_left_door_mat"/> |
| <geom name="cab_micro_right_group_left_door_trim_left_visual" size="0.04 0.254776 0.01" pos="-0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_left_door_mat"/> |
| <geom name="cab_micro_right_group_left_door_trim_right_visual" size="0.04 0.254776 0.01" pos="0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_left_door_mat"/> |
| </body> |
| <body name="cab_micro_right_group_left_door_handle_main" pos="0.135403 0 -0.204776"> |
| <geom name="cab_micro_right_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_right_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_right_group_left_door_handle_mat"/> |
| <site name="cab_micro_right_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_right_group_hingerightdoor"> |
| <joint name="cab_micro_right_group_rightdoorhinge" pos="0.358805 -0.2 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="cab_micro_right_group_rightdoor_p1" pos="0.25 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_micro_right_group_rightdoor_p2" pos="0.2 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_micro_right_group_rightdoor_p3" pos="0.25 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_micro_right_group_right_door_main" pos="0.186903 -0.185 0"> |
| <geom name="cab_micro_right_group_right_door_door" size="0.105403 0.174776 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_right_group_right_door_door_visual" size="0.105403 0.174776 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_right_group_right_door_transparent_material"/> |
| <site name="cab_micro_right_group_right_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_micro_right_group_right_door_trims"> |
| <geom name="cab_micro_right_group_right_door_trim_top" size="0.105403 0.04 0.01" pos="0 -0.0025 0.214776" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_right_door_trim_bottom" size="0.105403 0.04 0.01" pos="0 -0.0025 -0.214776" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_right_door_trim_left" size="0.04 0.254776 0.01" pos="-0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_right_door_trim_right" size="0.04 0.254776 0.01" pos="0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_micro_right_group_right_door_trim_top_visual" size="0.105403 0.04 0.01" pos="0 -0.0025 0.214776" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_right_door_mat"/> |
| <geom name="cab_micro_right_group_right_door_trim_bottom_visual" size="0.105403 0.04 0.01" pos="0 -0.0025 -0.214776" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_right_door_mat"/> |
| <geom name="cab_micro_right_group_right_door_trim_left_visual" size="0.04 0.254776 0.01" pos="-0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_right_door_mat"/> |
| <geom name="cab_micro_right_group_right_door_trim_right_visual" size="0.04 0.254776 0.01" pos="0.145403 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_micro_right_group_right_door_mat"/> |
| </body> |
| <body name="cab_micro_right_group_right_door_handle_main" pos="-0.135403 0 -0.204776"> |
| <geom name="cab_micro_right_group_right_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_right_group_right_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_right_group_right_door_handle_mat"/> |
| <site name="cab_micro_right_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_2_right_group_main" pos="4.99999 -2.14761 1.85" quat="0.707105 0 0 -0.707108"> |
| <geom name="cab_2_right_group_top" size="0.25 0.185 0.015" pos="0 0.015 0.445" type="box" mass="0.2" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_bottom" size="0.25 0.185 0.015" pos="0 0.015 -0.445" type="box" mass="0.2" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_back" size="0.22 0.015 0.43" pos="0 0.185 0" type="box" mass="0.2" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_right" size="0.015 0.185 0.43" pos="0.235 0.015 0" type="box" mass="0.2" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_left" size="0.015 0.185 0.43" pos="-0.235 0.015 0" type="box" mass="0.2" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_shelf" size="0.22 0.15 0.015" pos="0 0.035 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_top_visual" size="0.25 0.185 0.015" pos="0 0.015 0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_mat"/> |
| <geom name="cab_2_right_group_bottom_visual" size="0.25 0.185 0.015" pos="0 0.015 -0.445" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_mat"/> |
| <geom name="cab_2_right_group_back_visual" size="0.22 0.015 0.43" pos="0 0.185 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_mat"/> |
| <geom name="cab_2_right_group_right_visual" size="0.015 0.185 0.43" pos="0.235 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_mat"/> |
| <geom name="cab_2_right_group_left_visual" size="0.015 0.185 0.43" pos="-0.235 0.015 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_mat"/> |
| <geom name="cab_2_right_group_shelf_visual" size="0.22 0.15 0.015" pos="0 0.035 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_mat"/> |
| <site name="cab_2_right_group_ext_p0" pos="-0.25 -0.2 -0.46" size="0.01" rgba="0 0 0 0"/> |
| <site name="cab_2_right_group_ext_px" pos="0.25 -0.2 -0.46" size="0.01" rgba="1 0 0 0"/> |
| <site name="cab_2_right_group_ext_py" pos="-0.25 0.2 -0.46" size="0.01" rgba="0 1 0 0"/> |
| <site name="cab_2_right_group_ext_pz" pos="-0.25 -0.2 0.46" size="0.01" rgba="0 0 1 0"/> |
| <site name="cab_2_right_group_int_p0" pos="-0.22 -0.17 -0.43" size="0.01" rgba="0.5 0.5 0.5 0"/> |
| <site name="cab_2_right_group_int_px" pos="0.22 -0.17 -0.43" size="0.01" rgba="1 1 0 0"/> |
| <site name="cab_2_right_group_int_py" pos="-0.22 0.17 -0.43" size="0.01" rgba="0 1 1 0"/> |
| <site name="cab_2_right_group_int_pz" pos="-0.22 -0.17 0.43" size="0.01" rgba="1 0 1 0"/> |
| <site name="cab_2_right_group_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_2_right_group_hingedoor"> |
| <joint name="cab_2_right_group_doorhinge" pos="0.235 -0.2 0" axis="0 0 1" limited="true" range="0 3" damping="2"/> |
| <site name="cab_2_right_group_door_p1" pos="0 -0.2 0" rgba="1 0 0 0"/> |
| <site name="cab_2_right_group_door_p2" pos="0.05 -0.2 0" rgba="0 1 0 0"/> |
| <site name="cab_2_right_group_door_p3" pos="0 -0.2 0.05" rgba="0 0 1 0"/> |
| <body name="cab_2_right_group_door_main" pos="0 -0.185 0"> |
| <geom name="cab_2_right_group_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_2_right_group_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_2_right_group_door_transparent_material"/> |
| <site name="cab_2_right_group_door_default_site" pos="0 0 0" size="0.002" rgba="1 0 0 0"/> |
| <body name="cab_2_right_group_door_trims"> |
| <geom name="cab_2_right_group_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_2_right_group_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_2_right_group_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_2_right_group_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_2_right_group_door_vert_trim" size="0.0114286 0.4585 0.01" pos="0 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_door_horiz_trim" size="0.1685 0.0114286 0.01" pos="0 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" density="10" rgba="0.5 0 0 1"/> |
| <geom name="cab_2_right_group_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_2_right_group_door_mat"/> |
| <geom name="cab_2_right_group_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_2_right_group_door_mat"/> |
| <geom name="cab_2_right_group_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_2_right_group_door_mat"/> |
| <geom name="cab_2_right_group_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_2_right_group_door_mat"/> |
| <geom name="cab_2_right_group_door_vert_trim_visual" size="0.0114286 0.4585 0.01" pos="0 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_door_mat"/> |
| <geom name="cab_2_right_group_door_horiz_trim_visual" size="0.1685 0.0114286 0.01" pos="0 -0.0025 0" quat="0.707105 0.707108 0 0" type="box" contype="0" conaffinity="0" group="1" mass="0" material="cab_2_right_group_door_mat"/> |
| </body> |
| <body name="cab_2_right_group_door_handle_main" pos="-0.1985 0 -0.2585"> |
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| <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="0.0022" rgba="1 0 0 0"/> |
| </body> |
| <body name="distr_counter_3_main"> |
| <joint name="distr_counter_3_joint0" type="free" limited="false" actuatorfrclimited="false" damping="0.0005"/> |
| <geom name="distr_counter_3_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_3_material.002" mesh="distr_counter_3_model_normalized_0_vis"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_22._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_23._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_21._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_20._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_24._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_30._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_18._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_19._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_31._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_25._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_27._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_26._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_9._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_8._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_6._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_7._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_5._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_4._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_0._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_1._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_3._coll"/> |
| <geom name="distr_counter_3_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_3_model_normalized_collision_2._coll"/> |
| <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="0.002" 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> |
|
|
