| <mujoco model="hinge_cab"> |
| <compiler angle="radian"/> |
| <asset> |
| <texture file="visuals/wood1.png" type="cube" name="tex"/> |
| <material name="mat" shininess="0.1" texture="tex"/> |
| </asset> |
| <default> |
| <default class="cab"> |
| <geom group="0" density="10"/> |
| </default> |
| </default> |
| <worldbody> |
| <body> |
| <body name="object"> |
| <geom pos="0.0 0 0.28" size="0.18 0.3 0.02" type="box" mass=".2" material="mat" class="cab" name="top"/> |
| <geom pos="0.0 0 -0.28" size="0.18 0.3 0.02" type="box" mass=".2" material="mat" class="cab" name="bottom"/> |
| <geom pos="0.0 0.28 0" size="0.18 0.02 0.26" type="box" mass=".2" material="mat" class="cab" name="back"/> |
| <geom pos="0.20 0 0" size="0.02 0.3 0.3" type="box" mass=".2" material="mat" class="cab" name="right"/> |
| <geom pos="-0.20 0 0" size="0.02 0.3 0.3" type="box" mass=".2" material="mat" class="cab" name="left"/> |
| <geom pos="0.0 0.0 0.0" size="0.18 0.28 0.02" type="box" material="mat" class="cab" name="shelf"/> |
| <body name="hingedoor" pos="0.20 -0.32 0"> |
| <joint axis="0 0 1" name="doorhinge" limited="true" range="0 3.00" damping="2"/> |
| <site rgba="1 0 0 0" size="0.005" pos="0.0 -0.20 0" name="door_p1"/> |
| <site rgba="0 1 0 0" size="0.005" pos="0.05 -0.20 0" name="door_p2"/> |
| <site rgba="0 0 1 0" size="0.005" pos="0.0 -0.20 0.05" name="door_p3"/> |
| </body> |
| |
| <site rgba="0 0 0 1" size="0.01" pos="0 0 0" name="ext_p0"/> |
| <site rgba="1 0 0 1" size="0.01" pos="0 0 0" name="ext_px"/> |
| <site rgba="0 1 0 1" size="0.01" pos="0 0 0" name="ext_py"/> |
| <site rgba="0 0 1 1" size="0.01" pos="0 0 0" name="ext_pz"/> |
| |
| <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> |
|
|
