File size: 7,914 Bytes
d785e3c | 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 95 96 97 98 99 100 101 102 103 | <mujoco model="switch_box">
<compiler angle="radian" meshdir="meshes" />
<asset>
<mesh name="enclosure_vis0" file="enclosure_vis0.obj" inertia="shell" />
<mesh name="enclosure_vis1" file="enclosure_vis1.obj" inertia="shell" />
<mesh name="enclosure_vis2" file="enclosure_vis2.obj" inertia="shell" />
<mesh name="enclosure_col0" file="enclosure_col0.obj" />
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<mesh name="enclosure_col3" file="enclosure_col3.obj" />
<mesh name="enclosure_col4" file="enclosure_col4.obj" />
<mesh name="enclosure_col5" file="enclosure_col5.obj" />
<mesh name="enclosure_col6" file="enclosure_col6.obj" />
<mesh name="enclosure_col7" file="enclosure_col7.obj" />
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<mesh name="enclosure_col10" file="enclosure_col10.obj" />
<mesh name="enclosure_col11" file="enclosure_col11.obj" />
<mesh name="enclosure_col12" file="enclosure_col12.obj" />
<mesh name="enclosure_col13" file="enclosure_col13.obj" />
<mesh name="enclosure_col14" file="enclosure_col14.obj" />
<mesh name="enclosure_col15" file="enclosure_col15.obj" />
<mesh name="enclosure_col16" file="enclosure_col16.obj" />
<mesh name="door_vis0" file="door_vis0.obj" inertia="shell" />
<mesh name="door_col0" file="door_col0.obj" />
<mesh name="door_col1" file="door_col1.obj" />
<mesh name="door_col2" file="door_col2.obj" />
<mesh name="door_col3" file="door_col3.obj" />
<mesh name="door_col4" file="door_col4.obj" />
<mesh name="door_col5" file="door_col5.obj" />
<mesh name="door_col6" file="door_col6.obj" />
<mesh name="door_col7" file="door_col7.obj" />
<mesh name="rotary_handle_vis0" file="rotary_handle_vis0.obj" inertia="shell" />
<mesh name="rotary_handle_col0" file="rotary_handle_col0.obj" />
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<mesh name="rotary_handle_col2" file="rotary_handle_col2.obj" />
<mesh name="rotary_handle_col3" file="rotary_handle_col3.obj" />
<mesh name="rotary_handle_col4" file="rotary_handle_col4.obj" />
<mesh name="rotary_handle_col5" file="rotary_handle_col5.obj" />
<mesh name="padlock_hasp_vis0" file="padlock_hasp_vis0.obj" inertia="shell" />
<mesh name="padlock_hasp_col0" file="padlock_hasp_col0.obj" />
<mesh name="padlock_hasp_col1" file="padlock_hasp_col1.obj" />
<mesh name="padlock_hasp_col2" file="padlock_hasp_col2.obj" />
<mesh name="padlock_hasp_col3" file="padlock_hasp_col3.obj" />
<mesh name="padlock_hasp_col4" file="padlock_hasp_col4.obj" />
<mesh name="padlock_hasp_col5" file="padlock_hasp_col5.obj" />
</asset>
<worldbody>
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<joint name="door" type="hinge" axis="0 0 -1" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="0 1.74533" />
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</body>
<body name="rotary_handle" pos="0.07 0.0182 0.133" quat="1 0 0 0">
<joint name="lever" type="hinge" axis="1 0 0" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="0 1.5708" />
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</body>
<body name="padlock_hasp" pos="0 0 0" quat="1 0 0 0">
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<geom type="mesh" mesh="padlock_hasp_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.000257221" />
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<geom type="mesh" mesh="padlock_hasp_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00206686" />
<geom type="mesh" mesh="padlock_hasp_col3" rgba="0.5 0.5 0.5 0" group="3" mass="9.79197e-05" />
<geom type="mesh" mesh="padlock_hasp_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000354882" />
<geom type="mesh" mesh="padlock_hasp_col5" rgba="0.5 0.5 0.5 0" group="3" mass="3.15021e-05" />
</body>
</body>
</worldbody>
</mujoco> |