Create playground/open_cabinet/mjcf/handle.xml
Browse files
assets/playground/open_cabinet/mjcf/handle.xml
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<mujoco model="handle">
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<compiler boundmass="0.01" boundinertia="0.0001" />
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<worldbody>
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<body name="handle" pos="0.0 0.0 0.0">
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<inertial pos="0 0 0" mass="0.2" diaginertia="0.01 0.01 0.01" />
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<joint name="handle_joint" type="slide" axis="1 0 0" range="-0.5 0" limited="true"
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damping="0.1" />
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<geom type="box" name="handle" size="0.01 0.08 0.01" condim="3"
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friction="1 .03 .003" rgba="0 1 0 1" contype="2" conaffinity="1" solref="0.01 1" />
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<geom type="box" name="shelf" size="0.1 0.2 0.01" pos="0.03 0 0" zaxis="-1 0 0"
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condim="3"
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friction="1 .03 .003" rgba="0 1 0 0.2" contype="2" conaffinity="1" solref="0.01 1" />
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</body>
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</worldbody>
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</mujoco>
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