| | <mujoco model="model"> |
| | <compiler angle="radian"/> |
| | <asset> |
| | <texture file="visuals/material_0.png" name="tex-model" type="2d"/> |
| | <texture type="2d" name="image5" file="visuals/image5.png"/> |
| | <texture type="2d" name="image0" file="visuals/image0.png"/> |
| | <texture type="2d" name="image2" file="visuals/image2.png"/> |
| | <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/> |
| | <material name="Control_Panel" texture="image5" specular="0.5" shininess="0.25"/> |
| | <material name="Fridge" texture="image0" specular="0.5" shininess="0.25"/> |
| | <material name="Handles" specular="0.5" shininess="0.25" rgba="0.098898 0.098898 0.098898 1.0"/> |
| | <material name="Plastics" texture="image2" 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/model_3.obj" name="model_3_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> |
| | |
| | <site rgba="0 0 0 1" size="0.01" pos="-0.2532439640174165 -0.191 -0.49999999999999994" name="ext_p0"/> |
| | <site rgba="1 0 0 1" size="0.01" pos="0.2532439640174165 -0.191 -0.49999999999999994" name="ext_px"/> |
| | <site rgba="0 1 0 1" size="0.01" pos="-0.2532439640174165 0.19767553252307624 -0.49999999999999994" name="ext_py"/> |
| | <site rgba="0 0 1 1" size="0.01" pos="-0.2532439640174165 -0.191 0.49999999999999994" name="ext_pz"/> |
| | |
| | <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="Handles" 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="Plastics" 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_3_vis" material="Fridge" class="visual"/> |
| | <geom class="collision" type="box" pos="0 0.004 0" size="0.2532439640174165 0.195 0.49999999999999994"/> |
| | <geom class="visual" type="box" pos="-0.14 -0.1855 0.1775" size="0.078 0.005 0.0302" material="Fridge"/> |
| | </body> |
| | </body> |
| | </worldbody> |
| | </mujoco> |
| |
|
