simpler_env: add recolored cabinet (visual-matching drawer/place)
Browse files
assets/simpler_env/cabinet/mk_station_recolor.urdf
ADDED
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@@ -0,0 +1,395 @@
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| 1 |
+
<robot name="mk_station" version="1.0">
|
| 2 |
+
<joint name="top_drawer_joint" type="prismatic">
|
| 3 |
+
<limit lower="0" upper="0.5" effort="0.00000" velocity="0.00000"/>
|
| 4 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.66800"/>
|
| 5 |
+
<parent link="body"/>
|
| 6 |
+
<child link="top_drawer"/>
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| 7 |
+
<axis xyz="1.00000 0.00000 0.00000"/>
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| 8 |
+
</joint>
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| 9 |
+
<joint name="middle_drawer_joint" type="prismatic">
|
| 10 |
+
<limit lower="0" upper="0.5" effort="0.00000" velocity="0.00000"/>
|
| 11 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.42300"/>
|
| 12 |
+
<parent link="body"/>
|
| 13 |
+
<child link="middle_drawer"/>
|
| 14 |
+
<axis xyz="1.00000 0.00000 0.00000"/>
|
| 15 |
+
</joint>
|
| 16 |
+
<joint name="bottom_drawer_joint" type="prismatic">
|
| 17 |
+
<limit lower="0" upper="0.5" effort="0.00000" velocity="0.00000"/>
|
| 18 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.17800"/>
|
| 19 |
+
<parent link="body"/>
|
| 20 |
+
<child link="bottom_drawer"/>
|
| 21 |
+
<axis xyz="1.00000 0.00000 0.00000"/>
|
| 22 |
+
</joint>
|
| 23 |
+
<link name="body">
|
| 24 |
+
<collision name="body_back_collision">
|
| 25 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.30500 0.00000 0.42250"/>
|
| 26 |
+
<geometry>
|
| 27 |
+
<box size="0.02000 0.61500 0.84500"/>
|
| 28 |
+
</geometry>
|
| 29 |
+
</collision>
|
| 30 |
+
<visual name="body_back">
|
| 31 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.30500 0.00000 0.42250"/>
|
| 32 |
+
<material name="gray_wooden"/>
|
| 33 |
+
<geometry>
|
| 34 |
+
<box size="0.02000 0.61500 0.84500"/>
|
| 35 |
+
</geometry>
|
| 36 |
+
</visual>
|
| 37 |
+
<collision name="body_left_collision">
|
| 38 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.29750 0.42250"/>
|
| 39 |
+
<geometry>
|
| 40 |
+
<box size="0.59000 0.02000 0.84500"/>
|
| 41 |
+
</geometry>
|
| 42 |
+
</collision>
|
| 43 |
+
<visual name="body_left">
|
| 44 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.29750 0.42250"/>
|
| 45 |
+
<material name="gray_wooden"/>
|
| 46 |
+
<geometry>
|
| 47 |
+
<box size="0.59000 0.02000 0.84500"/>
|
| 48 |
+
</geometry>
|
| 49 |
+
</visual>
|
| 50 |
+
<collision name="body_right_collision">
|
| 51 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.29750 0.42250"/>
|
| 52 |
+
<geometry>
|
| 53 |
+
<box size="0.59000 0.02000 0.84500"/>
|
| 54 |
+
</geometry>
|
| 55 |
+
</collision>
|
| 56 |
+
<visual name="body_right">
|
| 57 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.29750 0.42250"/>
|
| 58 |
+
<material name="gray_wooden"/>
|
| 59 |
+
<geometry>
|
| 60 |
+
<box size="0.59000 0.02000 0.84500"/>
|
| 61 |
+
</geometry>
|
| 62 |
+
</visual>
|
| 63 |
+
<collision name="tabletop_collision">
|
| 64 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.85500"/>
|
| 65 |
+
<geometry>
|
| 66 |
+
<box size="0.63000 0.61500 0.02000"/>
|
| 67 |
+
</geometry>
|
| 68 |
+
</collision>
|
| 69 |
+
<visual name="tabletop">
|
| 70 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 0.85500"/>
|
| 71 |
+
<material name="stone"/>
|
| 72 |
+
<geometry>
|
| 73 |
+
<box size="0.63000 0.61500 0.02000"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
</link>
|
| 77 |
+
<link name="top_drawer">
|
| 78 |
+
<visual name="handle0">
|
| 79 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.34250 0.00000 0.02"/>
|
| 80 |
+
<material name="black"/>
|
| 81 |
+
<geometry>
|
| 82 |
+
<box size="0.005000 0.10000 0.00500"/>
|
| 83 |
+
</geometry>
|
| 84 |
+
</visual>
|
| 85 |
+
<visual name="handle1">
|
| 86 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.33250 -0.05000 0.02"/>
|
| 87 |
+
<material name="black"/>
|
| 88 |
+
<geometry>
|
| 89 |
+
<box size="0.020000 0.00500 0.00500"/>
|
| 90 |
+
</geometry>
|
| 91 |
+
</visual>
|
| 92 |
+
<visual name="handle2">
|
| 93 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.33250 0.05000 0.02"/>
|
| 94 |
+
<material name="black"/>
|
| 95 |
+
<geometry>
|
| 96 |
+
<box size="0.020000 0.00500 0.00500"/>
|
| 97 |
+
</geometry>
|
| 98 |
+
</visual>
|
| 99 |
+
<collision name="drawer_front_collision">
|
| 100 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.30500 0.00000 0.0"/>
|
| 101 |
+
<geometry>
|
| 102 |
+
<box size="0.015000 0.61500 0.14000"/>
|
| 103 |
+
</geometry>
|
| 104 |
+
</collision>
|
| 105 |
+
<visual name="drawer_front">
|
| 106 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.30500 0.00000 0.0"/>
|
| 107 |
+
<material name="gray_wooden"/>
|
| 108 |
+
<geometry>
|
| 109 |
+
<box size="0.015000 0.61500 0.14000"/>
|
| 110 |
+
</geometry>
|
| 111 |
+
</visual>
|
| 112 |
+
<collision name="drawer_back_collision">
|
| 113 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.28500 0.00000 -0.02"/>
|
| 114 |
+
<geometry>
|
| 115 |
+
<box size="0.02000 0.51500 0.10000"/>
|
| 116 |
+
</geometry>
|
| 117 |
+
</collision>
|
| 118 |
+
<visual name="drawer_back">
|
| 119 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="-0.28500 0.00000 -0.02"/>
|
| 120 |
+
<material name="white_wooden"/>
|
| 121 |
+
<geometry>
|
| 122 |
+
<box size="0.02000 0.51500 0.10000"/>
|
| 123 |
+
</geometry>
|
| 124 |
+
</visual>
|
| 125 |
+
<collision name="drawer_interior_bottom_collision">
|
| 126 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 -0.06"/>
|
| 127 |
+
<geometry>
|
| 128 |
+
<box size="0.55000 0.51500 0.02000"/>
|
| 129 |
+
</geometry>
|
| 130 |
+
</collision>
|
| 131 |
+
<visual name="drawer_interior_bottom">
|
| 132 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00000 -0.06"/>
|
| 133 |
+
<material name="white_wooden"/>
|
| 134 |
+
<geometry>
|
| 135 |
+
<box size="0.55000 0.51500 0.02000"/>
|
| 136 |
+
</geometry>
|
| 137 |
+
</visual>
|
| 138 |
+
<collision name="drawer_interior_front_collision">
|
| 139 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.28500 0.00000 -0.02"/>
|
| 140 |
+
<geometry>
|
| 141 |
+
<box size="0.02000 0.51500 0.10000"/>
|
| 142 |
+
</geometry>
|
| 143 |
+
</collision>
|
| 144 |
+
<visual name="drawer_interior_front">
|
| 145 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.28500 0.00000 -0.02"/>
|
| 146 |
+
<material name="white_wooden"/>
|
| 147 |
+
<geometry>
|
| 148 |
+
<box size="0.02000 0.51500 0.10000"/>
|
| 149 |
+
</geometry>
|
| 150 |
+
</visual>
|
| 151 |
+
<collision name="drawer_left_collision">
|
| 152 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.26750 -0.02"/>
|
| 153 |
+
<geometry>
|
| 154 |
+
<box size="0.59000 0.02000 0.10000"/>
|
| 155 |
+
</geometry>
|
| 156 |
+
</collision>
|
| 157 |
+
<visual name="drawer_left">
|
| 158 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.26750 -0.02"/>
|
| 159 |
+
<material name="white_wooden"/>
|
| 160 |
+
<geometry>
|
| 161 |
+
<box size="0.59000 0.02000 0.10000"/>
|
| 162 |
+
</geometry>
|
| 163 |
+
</visual>
|
| 164 |
+
<collision name="drawer_right_collision">
|
| 165 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.26750 -0.02"/>
|
| 166 |
+
<geometry>
|
| 167 |
+
<box size="0.59000 0.02000 0.10000"/>
|
| 168 |
+
</geometry>
|
| 169 |
+
</collision>
|
| 170 |
+
<visual name="drawer_right">
|
| 171 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.26750 -0.02"/>
|
| 172 |
+
<material name="white_wooden"/>
|
| 173 |
+
<geometry>
|
| 174 |
+
<box size="0.59000 0.02000 0.10000"/>
|
| 175 |
+
</geometry>
|
| 176 |
+
</visual>
|
| 177 |
+
</link>
|
| 178 |
+
<link name="middle_drawer">
|
| 179 |
+
<visual name="handle0">
|
| 180 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.34250 0.00000 0.02"/>
|
| 181 |
+
<material name="black"/>
|
| 182 |
+
<geometry>
|
| 183 |
+
<box size="0.005000 0.10000 0.00500"/>
|
| 184 |
+
</geometry>
|
| 185 |
+
</visual>
|
| 186 |
+
<visual name="handle1">
|
| 187 |
+
<origin rpy="0.00000 0.00000 0.00000" xyz="0.33250 -0.05000 0.02"/>
|
| 188 |
+
<material name="black"/>
|
| 189 |
+
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| 214 |
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| 217 |
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| 220 |
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| 221 |
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| 224 |
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| 276 |
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| 382 |
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<material name="stone">
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| 384 |
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<color rgba="0.325 0.187 0.1166 1.00000"/>
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| 385 |
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| 386 |
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<color rgba="0.5174 0.325 0.17677 1.00000"/>
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| 388 |
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| 389 |
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| 394 |
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