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clover_lab_raw_model.xml
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clover_lab_raw_model.xml
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<mujoco model="clover_lab">
<compiler angle="radian" meshdir="./meshes/" />
<size njmax="500" nconmax="100" />
<asset>
<mesh name="handle" file="handle.stl" />
</asset>
<worldbody>
<geom size="0.3 0.9 0.06" pos="-2.7 0.2 0.06" type="box" rgba="0.9 0.9 0.9 1" />
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<geom size="0.05 1.6 1.35" pos="-3.05 0 1.35" type="box" rgba="0.8 1 0.8 1" />
<body name="base_cabinet_c1_door" pos="-2.392 -0.7 0.52">
<inertial pos="0.000211765 0.202024 0.00741176" quat="0.999906 -0.0136387 0.000532158 -0.00113028" mass="3.4" diaginertia="0.227133 0.182094 0.0453174" />
<joint name="base_cabinet_c1_door_joint" pos="0 0 0" axis="0 0 -1" limited="true" range="0 1.5708" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.398" pos="0 0.198 0" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0.35 0.28" quat="0.707107 0.707107 0 0" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
</body>
<body name="base_cabinet_c1_r1_drawer_front_panel" pos="-2.408 -0.5 0.64">
<inertial pos="-0.1315 0 -0.011" quat="0 0.689473 0 0.724311" mass="10" diaginertia="0.398227 0.298248 0.104187" />
<joint name="base_cabinet_c1_r1_drawer_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" />
<geom size="0.008 0.175 0.03" type="box" rgba="0.9 0.9 0.9 1" />
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</body>
<body name="base_cabinet_c1_r2_drawer_front_panel" pos="-2.408 -0.5 0.4">
<inertial pos="-0.206643 0 -0.0328571" quat="0 0.690417 0 0.723412" mass="14" diaginertia="0.79076 0.668541 0.234422" />
<joint name="base_cabinet_c1_r2_drawer_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" />
<geom size="0.008 0.175 0.1" type="box" rgba="0.9 0.9 0.9 1" />
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</body>
<body name="base_cabinet_c2_pull_out_front_panel" pos="-2.392 -0.2 0.52">
<inertial pos="-0.307508 0 0.00538329" quat="0.70225 -0.0827365 -0.0827365 0.70225" mass="19.75" diaginertia="1.62489 0.943298 0.781226" />
<joint name="base_cabinet_c2_pull_out_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" damping="100" frictionloss="0.1" />
<geom size="0.008 0.098 0.398" type="box" rgba="0.89 0.81 0.69 1" />
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</body>
<body name="base_cabinet_c3_r1_drawer_front_panel" pos="-2.392 0.1 0.82">
<inertial pos="-0.308565 0 -0.0320813" quat="0 0.715298 0 0.69882" mass="9.84" diaginertia="0.504495 0.386995 0.157083" />
<joint name="base_cabinet_c3_r1_drawer_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.098" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0 0.048" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
<geom size="0.271 0.175 0.008" pos="-0.279 0 -0.064" type="box" rgba="0.9 0.9 0.9 1" />
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</body>
<body name="base_cabinet_c3_r2_drawer_front_panel" pos="-2.392 0.1 0.62">
<inertial pos="-0.308565 0 -0.0320813" quat="0 0.715298 0 0.69882" mass="9.84" diaginertia="0.504495 0.386995 0.157083" />
<joint name="base_cabinet_c3_r2_drawer_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.098" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0 0.048" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
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</body>
<body name="base_cabinet_c3_r3_drawer_front_panel" pos="-2.392 0.1 0.42">
<inertial pos="-0.308565 0 -0.0320813" quat="0 0.715298 0 0.69882" mass="9.84" diaginertia="0.504495 0.386995 0.157083" />
<joint name="base_cabinet_c3_r3_drawer_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.098" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0 0.048" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
<geom size="0.271 0.175 0.008" pos="-0.279 0 -0.064" type="box" rgba="0.9 0.9 0.9 1" />
<geom size="0.271 0.008 0.072" pos="-0.279 0.167 0" type="box" rgba="0.9 0.9 0.9 0.9" />
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</body>
<body name="base_cabinet_c3_r4_drawer_front_panel" pos="-2.392 0.1 0.22">
<inertial pos="-0.308565 0 -0.0320813" quat="0 0.715298 0 0.69882" mass="9.84" diaginertia="0.504495 0.386995 0.157083" />
<joint name="base_cabinet_c3_r4_drawer_front_panel_joint" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="0 0.542" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.098" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0 0.048" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
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<geom size="0.271 0.008 0.072" pos="-0.279 0.167 0" type="box" rgba="0.9 0.9 0.9 0.9" />
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<geom size="0.008 0.175 0.072" pos="-0.542 0 0" type="box" rgba="0.9 0.9 0.9 1" />
</body>
<body name="base_cabinet_c4_door" pos="-2.392 0.3 0.52">
<inertial pos="0.000211765 0.202024 0.00741176" quat="0.999906 -0.0136387 0.000532158 -0.00113028" mass="3.4" diaginertia="0.227133 0.182094 0.0453174" />
<joint name="base_cabinet_c4_door_joint" pos="0 0 0" axis="0 0 -1" limited="true" range="0 1.5708" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.398" pos="0 0.198 0" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0.35 0.28" quat="0.707107 0.707107 0 0" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
</body>
<body name="base_cabinet_c5_door" pos="-2.392 1.1 0.52">
<inertial pos="0.000211765 -0.202024 0.00741176" quat="0.999906 0.0136387 0.000532158 0.00113028" mass="3.4" diaginertia="0.227133 0.182094 0.0453174" />
<joint name="base_cabinet_c5_door_joint" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.398" pos="0 -0.198 0" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 -0.35 0.28" quat="0.707107 0.707107 0 0" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
</body>
<body name="wall_cabinet_c1_door" pos="-2.61 -0.1 2.045">
<inertial pos="0.000211765 0.302818 -0.00926471" quat="0.999511 0.0312472 -0.000647123 -0.000577122" mass="3.4" diaginertia="0.291019 0.190414 0.100884" />
<joint name="wall_cabinet_c1_door_joint" pos="0 0 0" axis="0 0 -1" limited="true" range="0 1.5708" damping="100" frictionloss="0.1" />
<geom size="0.008 0.298 0.403" pos="0 0.298 0" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 0.48 -0.35" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
</body>
<body name="wall_cabinet_c2_door" pos="-2.61 0.9 2.045">
<inertial pos="0.000211765 -0.200171 -0.00926471" quat="0.999962 -0.00861631 -0.000643445 0.000612332" mass="3.4" diaginertia="0.233981 0.190108 0.0441512" />
<joint name="wall_cabinet_c2_door_joint" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" damping="100" frictionloss="0.1" />
<geom size="0.008 0.198 0.403" pos="0 -0.198 0" type="box" rgba="0.89 0.81 0.69 1" />
<geom pos="0.008 -0.28 -0.35" type="mesh" rgba="0.3 0.3 0.3 1" mesh="handle" />
</body>
</worldbody>
</mujoco>