File size: 5,553 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 82 83 | <mujoco model="model">
<compiler angle="radian"/>
<asset>
<texture file="visuals/material_0.png" name="tex-model" type="2d"/>
<texture type="2d" name="image7" file="visuals/image7.png"/>
<texture type="2d" name="image10" file="visuals/image10.png"/>
<texture type="2d" name="image13" file="visuals/image13.png"/>
<material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
<material name="TX_Microwave_2_1" texture="image7" specular="0.5" shininess="0.25"/>
<material name="TX_Microwave_2_2" texture="image10" specular="0.5" shininess="0.25"/>
<material name="TX_Microwave_2_3" texture="image13" specular="0.5" shininess="0.25"/>
<mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
<mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
<mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
<mesh file="visuals/door_0.obj" name="door_0_vis" scale="1 1 1"/>
<mesh file="visuals/door_1.obj" name="door_1_vis" scale="1 1 1"/>
<mesh file="visuals/door_2.obj" name="door_2_vis" scale="1 1 1"/>
</asset>
<default>
<default class="visual">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
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<default class="collision">
<geom group="0" rgba="0.5 0 0 0.5"/>
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<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="TX_Microwave_2_2" class="visual"/>
<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_1_vis" material="TX_Microwave_2_3" class="visual"/>
<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_2_vis" material="TX_Microwave_2_1" class="visual"/>
<!-- Back -->
<geom class="collision" type="box" pos="0 0.412 0" size="0.493 0.088 0.308"/>
<!-- Bottom -->
<geom class="collision" type="box" pos="0 0 -0.248" size="0.493 0.351 0.055"/>
<!-- Left -->
<geom class="collision" type="box" pos="-0.468 0 0" size="0.025 0.351 0.308"/>
<!-- Right -->
<geom class="collision" type="box" pos="0.343 0 0" size="0.15 0.351 0.308"/>
<!-- Top -->
<geom class="collision" type="box" pos="0 0 0.279" size="0.493 0.351 0.029"/>
<!-- Numpad -->
<geom class="collision" type="box" pos="0.381 -0.388 0.023" size="0.112 0.037 0.285"/>
<!-- Knob -->
<geom class="collision" type="cylinder" pos="0.3475 -0.44 -0.1" size="0.043 0.017 0" axisangle="1 0 0 1.57"/>
<!-- start/stop buttons -->
<geom class="collision" type="box" pos="0.42 -0.41 -0.15" size="0.03 0.0216 0.025" name="start_button" rgba="0.0 0.5 0 0.5"/>
<geom class="collision" type="box" pos="0.348 -0.435 -0.10" size="0.025 0.0216 0.025" name="stop_button" rgba="0.0 0.5 0 0.5"/>
<geom class="collision" type="cylinder" pos="-0.12 -0.02 -0.20" size="0.22 0.005" rgba="0 1 0 0.5" name="tray"/>
<body name="door">
<joint axis="0 0 1" limited="true" name="microjoint" range="-1.57 0" damping="2" frictionloss="2" armature=".01" pos="-0.493 -0.351 0" ref="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="TX_Microwave_2_3" class="visual"/>
<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_1_vis" material="TX_Microwave_2_1" class="visual"/>
<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_2_vis" material="TX_Microwave_2_2" class="visual"/>
<!-- Door Main -->
<geom class="collision" type="box" pos="-0.112 -0.389 0.023" size="0.38 0.037 0.285"/>
<!-- Handle Top -->
<geom class="collision" type="box" pos="0.219 -0.453 0.226" size="0.027 0.047 0.032" axisangle="1 0 0 0.23"/>
<!-- Handle Top -->
<geom class="collision" type="box" pos="0.219 -0.453 -0.142" size="0.027 0.047 0.032" axisangle="1 0 0 -0.23"/>
<!-- Handle Main -->
<geom class="collision" type="box" pos="0.219 -0.487 0.039" size="0.025 0.0132 0.18" name="door_handle"/>
<!-- door sites -->
<site rgba="1 0 0 0" size="0.005" pos="-0.075 -0.42 0.01" name="door_p1"/>
<site rgba="0 1 0 0" size="0.005" pos="-0.025 -0.42 0.01" name="door_p2"/>
<site rgba="0 0 1 0" size="0.005" pos="-0.075 -0.42 0.06" name="door_p3"/>
</body>
<!-- exterior bounding box points -->
<site rgba="0 0 0 1" size="0.01" pos="-0.493 -0.426 -0.262" name="ext_p0"/>
<site rgba="1 0 0 1" size="0.01" pos="0.493 -0.426 -0.262" name="ext_px"/>
<site rgba="0 1 0 1" size="0.01" pos="-0.493 0.465 -0.262" name="ext_py"/>
<site rgba="0 0 1 1" size="0.01" pos="-0.493 -0.426 0.308" name="ext_pz"/>
<!-- interior bounding box points -->
<site rgba="0.5 0.5 0.5 1" size="0.01" pos="-0.443 -0.351 -0.193" name="int_p0"/>
<site rgba="1 1 0 1" size="0.01" pos="0.193 -0.351 -0.193" name="int_px"/>
<site rgba="0 1 1 1" size="0.01" pos="-0.443 0.324 -0.193" name="int_py"/>
<site rgba="1 0 1 1" size="0.01" pos="-0.443 -0.351 0.25" name="int_pz"/>
</body>
</body>
</worldbody>
</mujoco>
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