File size: 4,399 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 | <mujoco model="pepper_mill">
<compiler angle="radian" meshdir="meshes" />
<asset>
<mesh name="body_vis0" file="body_vis0.obj" inertia="shell" />
<mesh name="body_col0" file="body_col0.obj" />
<mesh name="body_col1" file="body_col1.obj" />
<mesh name="body_col2" file="body_col2.obj" />
<mesh name="body_col3" file="body_col3.obj" />
<mesh name="body_col4" file="body_col4.obj" />
<mesh name="body_col5" file="body_col5.obj" />
<mesh name="grinder_vis0" file="grinder_vis0.obj" inertia="shell" />
<mesh name="grinder_col0" file="grinder_col0.obj" />
<mesh name="grinder_col1" file="grinder_col1.obj" />
<mesh name="grinder_col2" file="grinder_col2.obj" />
<mesh name="grinder_col3" file="grinder_col3.obj" />
<mesh name="grinder_col4" file="grinder_col4.obj" />
<mesh name="grinder_col5" file="grinder_col5.obj" />
<mesh name="cap_vis0" file="cap_vis0.obj" inertia="shell" />
<mesh name="cap_col0" file="cap_col0.obj" />
<mesh name="cap_col1" file="cap_col1.obj" />
<mesh name="cap_col2" file="cap_col2.obj" />
<mesh name="cap_col3" file="cap_col3.obj" />
<mesh name="cap_col4" file="cap_col4.obj" />
<mesh name="cap_col5" file="cap_col5.obj" />
<mesh name="knob_vis0" file="knob_vis0.obj" inertia="shell" />
<mesh name="knob_col0" file="knob_col0.obj" />
<mesh name="knob_col1" file="knob_col1.obj" />
<mesh name="knob_col2" file="knob_col2.obj" />
</asset>
<worldbody>
<body name="body" pos="0 0 0" quat="0.707107 0 0 -0.707107">
<geom type="mesh" mesh="body_vis0" rgba="0.84 0.68 0.46 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="body_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.038591" />
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<geom type="mesh" mesh="body_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.023331" />
<geom type="mesh" mesh="body_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.011209" />
<body name="grinder" pos="0 0 0" quat="1 0 0 0">
<geom type="mesh" mesh="grinder_vis0" rgba="0.68 0.69 0.71 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="grinder_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0210505" />
<geom type="mesh" mesh="grinder_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0038783" />
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<geom type="mesh" mesh="grinder_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0237807" />
<geom type="mesh" mesh="grinder_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0212882" />
<geom type="mesh" mesh="grinder_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00702139" />
</body>
<body name="cap" pos="0 0 0" quat="1 0 0 0">
<geom type="mesh" mesh="cap_vis0" rgba="0.84 0.68 0.46 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="cap_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00195192" />
<geom type="mesh" mesh="cap_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000704664" />
<geom type="mesh" mesh="cap_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.000834977" />
<geom type="mesh" mesh="cap_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.000842056" />
<geom type="mesh" mesh="cap_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000122809" />
<geom type="mesh" mesh="cap_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000780541" />
</body>
<body name="knob" pos="0 0 0.168" quat="1 0 0 0">
<joint name="knob" type="hinge" axis="0 0 1" pos="0 0 0" damping="0.01" frictionloss="0.02" armature="0.001" limited="true" range="-12.5664 12.5664" />
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<geom type="mesh" mesh="knob_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00718669" />
<geom type="mesh" mesh="knob_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000693622" />
<geom type="mesh" mesh="knob_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.000226505" />
</body>
</body>
</worldbody>
</mujoco> |