File size: 7,337 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 84 85 86 87 88 89 90 91 92 93 94 | <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="MI_electric_range_01" texture="image0" specular="0.5" shininess="0.25"/>
<material name="MI_electric_range_glass" specular="0.5" shininess="1.0" rgba="0.103704 0.103704 0.103704 0.250000"/>
<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/knob_rear_center_0.obj" name="knob_rear_center_0_vis" scale="1 1 1"/>
<mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
<mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
<mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
<mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_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="MI_electric_range_glass" 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="MI_electric_range_01" class="visual"/>
<!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
<geom class="collision" pos="0 0.02 -0.13" size="0.32 0.275 0.36" type="box"/>
<geom class="collision" pos="0 0.27 0.35" size="0.32 0.03 0.15" type="box"/>
<geom class="collision" pos="0 0.23 0.37" size="0.32 0.01 0.025" type="box"/>
<geom class="collision" pos="-0.025 0.24 0.43" size="0.13 0.01 0.03" type="box"/>
<site name="burner_on_front_left" pos="-0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
<site name="burner_on_front_right" pos="0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
<site name="burner_on_rear_left" pos="-0.192 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
<site name="burner_on_rear_right" pos="0.19 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
<site name="burner_on_rear_center" pos="0.0 0.107 0.223" size="0.065 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
<site name="burner_front_left_place_site" pos="-0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
<site name="burner_front_right_place_site" pos="0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
<site name="burner_rear_left_place_site" pos="-0.192 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
<site name="burner_rear_right_place_site" pos="0.19 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
<site name="burner_rear_center_place_site" pos="0.0 0.107 0.223" size="0.065 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
<body name="knob_rear_center">
<!--Add Joint Here-->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_center_0_vis" material="MI_electric_range_01" class="visual"/>
<!--Add Collision Geom(s) for knob_rear_center here - i.e. <geom class="collision" type="" pos="" size=""/>-->
<joint pos="0.14 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_center_joint"/>
<geom class="collision" pos="0.14 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_center_main"/>
</body>
<body name="knob_rear_right">
<!--Add Joint Here-->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_right_0_vis" material="MI_electric_range_01" class="visual"/>
<!--Add Collision Geom(s) for knob_rear_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
<joint pos="0.20 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_right_joint"/>
<geom class="collision" pos="0.20 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_right_main"/>
</body>
<body name="knob_front_left">
<!--Add Joint Here-->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_0_vis" material="MI_electric_range_01" class="visual"/>
<!--Add Collision Geom(s) for knob_front_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
<joint pos="-0.26 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_front_left_joint"/>
<geom class="collision" pos="-0.26 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_front_left_main"/>
</body>
<body name="knob_front_right">
<!--Add Joint Here-->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_0_vis" material="MI_electric_range_01" class="visual"/>
<!--Add Collision Geom(s) for knob_front_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
<joint pos="0.265 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_front_right_joint"/>
<geom class="collision" pos="0.265 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_front_right_main"/>
</body>
<body name="knob_rear_left">
<!--Add Joint Here-->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_0_vis" material="MI_electric_range_01" class="visual"/>
<!--Add Collision Geom(s) for knob_rear_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
<joint pos="-0.20 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_left_joint"/>
<geom class="collision" pos="-0.20 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_left_main"/>
</body>
<!-- exterior bounding box points -->
<site rgba="1 1 1 1" size="0.01" pos="-0.32 -0.255 -0.50" name="ext_p0"/>
<site rgba="1 0 0 1" size="0.01" pos="0.32 -0.255 -0.50" name="ext_px"/>
<site rgba="0 1 0 1" size="0.01" pos="-0.32 0.295 -0.50" name="ext_py"/>
<site rgba="0 0 1 1" size="0.01" pos="-0.32 -0.255 0.233" name="ext_pz"/>
<!-- interior bounding box points -->
<site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
<site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
<site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
<site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
</body>
</body>
</worldbody>
</mujoco>
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