File size: 5,211 Bytes
4523cad | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 | <mujoco model="model">
<compiler angle="radian"/>
<asset>
<texture file="visuals/material_0.png" name="tex-model" type="2d"/>
<texture type="2d" name="image0" file="visuals/image0.png"/>
<material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
<material name="Baked_Microwave" texture="image0" specular="0.5" shininess="0.25"/>
<material name="Door_Inside" specular="0.5" shininess="0.25" rgba="0.3059 0.3059 0.3059 1"/>
<mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
<mesh file="visuals/door_0.obj" name="door_0_vis" scale="1 1 1"/>
</asset>
<default>
<default class="visual">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="collision">
<geom group="0" rgba="0.5 0 0 0.5"/>
</default>
</default>
<worldbody>
<body>
<body name="object">
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="Baked_Microwave" class="visual"/>
<!-- Back Wall -->
<geom class="collision" type="box" pos="0 0.262 0.005" size="0.5 0.005 0.285"/>
<!-- Floor -->
<geom class="collision" type="box" pos="0 0.067 -0.283" size="0.5 0.2 0.005"/>
<!-- Top -->
<geom class="collision" type="box" pos="0 0.067 0.29" size="0.5 0.2 0.005"/>
<!-- Left Wall-->
<geom class="collision" type="box" pos="-0.5 0.067 0.005" size="0.005 0.2 0.285"/>
<!-- Right Wall-->
<geom class="collision" type="box" pos="0.5 0.067 0.005" size="0.005 0.2 0.285"/>
<!-- Keypad -->
<geom class="collision" type="box" pos="0.393 -0.174 0.225" size="0.101 0.041 0.065"/>
<geom class="collision" type="box" pos="0.393 -0.174 -0.24" size="0.101 0.041 0.04"/>
<geom class="collision" type="box" pos="0.47 -0.174 -0.02" size="0.025 0.041 0.18"/>
<geom class="collision" type="box" pos="0.37 -0.174 -0.02" size="0.075 0.0215 0.18"/>
<!-- start/stop buttons -->
<geom class="collision" type="box" pos="0.41 -0.174 -0.13" size="0.03 0.0216 0.025" name="start_button" rgba="0.0 0.5 0 0.5"/>
<geom class="collision" type="box" pos="0.335 -0.174 -0.13" size="0.03 0.0216 0.025" name="stop_button" rgba="0.0 0.5 0 0.5"/>
<geom class="collision" type="cylinder" pos="-0.09 0.07 -0.282" size="0.19 0.005" rgba="0 1 0 0.5" name="tray"/>
<!-- Bottom gaps fixes -->
<geom class="visual" type="box" pos="0 -0.095 -0.285" size="0.45 0.008 0.002" axisangle="1 0 0 -0.6"/>
<geom class="visual" type="box" pos="0 0.227 -0.285" size="0.45 0.009 0.002" axisangle="1 0 0 0.6"/>
<body name="door">
<joint axis="0 0 1" limited="true" name="microjoint" range="-1.57 0" damping="2" frictionloss="2" armature=".01" pos="-0.471 -0.178 0"/>
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="door_0_vis" material="Baked_Microwave" class="visual"/>
<!-- Door -->
<geom class="collision" type="box" pos="-0.067 -0.174 0.005" size="0.351 0.041 0.275"/>
<!-- Handle Top -->
<geom class="collision" type="box" pos="0.254 -0.22 0.18" size="0.023 0.02 0.021"/>
<!-- Handle Bottom -->
<geom class="collision" type="box" pos="0.254 -0.22 -0.23" size="0.023 0.02 0.021"/>
<!-- Handle Main -->
<geom class="collision" type="box" pos="0.254 -0.248 -0.02" size="0.023 0.016 0.21" name="door_handle"/>
<!-- Door inside gap fixes -->
<geom class="visual" type="box" pos="0.2325 -0.165 -0.022" size="0.054 0.03 0.185" material="Door_Inside"/>
<geom class="visual" type="box" pos="-0.435 -0.165 -0.022" size="0.03 0.03 0.185" material="Door_Inside"/>
<geom class="visual" type="box" pos="-0.113 -0.165 -0.185" size="0.293 0.03 0.02" material="Door_Inside"/>
<geom class="visual" type="box" pos="-0.113 -0.165 0.1125" size="0.293 0.03 0.047" material="Door_Inside"/>
<!-- door sites -->
<site rgba="1 0 0 0" size="0.005" pos="-0.075 -0.21 0.01" name="door_p1"/>
<site rgba="0 1 0 0" size="0.005" pos="-0.025 -0.21 0.01" name="door_p2"/>
<site rgba="0 0 1 0" size="0.005" pos="-0.075 -0.21 0.06" name="door_p3"/>
</body>
<!-- exterior bounding box points -->
<site rgba="1 1 1 1" size="0.01" pos="-0.51 -0.215 -0.29" name="ext_p0"/>
<site rgba="1 0 0 1" size="0.01" pos="0.51 -0.215 -0.29" name="ext_px"/>
<site rgba="0 1 0 1" size="0.01" pos="-0.51 0.27 -0.29" name="ext_py"/>
<site rgba="0 0 1 1" size="0.01" pos="-0.51 -0.215 0.293" name="ext_pz"/>
<!-- interior bounding box points -->
<site rgba="0.5 0.5 0.5 1" size="0.01" pos="-0.495 -0.13 -0.275" name="int_p0"/>
<site rgba="1 1 0 1" size="0.01" pos="0.49 -0.13 -0.275" name="int_px"/>
<site rgba="0 1 1 1" size="0.01" pos="-0.495 0.26 -0.275" name="int_py"/>
<site rgba="1 0 1 1" size="0.01" pos="-0.495 -0.13 0.29" name="int_pz"/>
</body>
</body>
</worldbody>
</mujoco>
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