Furniture Components

Component types and usage in scene composition.

Tables

Structure: furniture_sim/[type]/[type]_{asset,body}.xml

<!-- Assets and materials -->
<include file="furniture_sim/simpleTable/simpleTable_asset.xml"/>

<!-- Physical structure (pick one): -->
<include file="furniture_sim/simpleTable/simpleGraniteTable_body.xml"/>
<include file="furniture_sim/simpleTable/simpleMarbleTable_body.xml"/>
<include file="furniture_sim/simpleTable/simpleWoodTable_body.xml"/>

Available Types:

• simpleTable: Basic surface with material variants

• studyTable: Surface with drawer/handle mechanics

• ventionTable: Industrial frame structure

Storage Units

Structure: furniture_sim/[type]/[type]_{asset,body}.xml

<!-- Cabinet with hinged door -->
<include file="furniture_sim/hingecabinet/hingecabinet_asset.xml"/>
<include file="furniture_sim/hingecabinet/hingecabinet_body.xml"/>

<!-- Cabinet with sliding door -->
<include file="furniture_sim/slidecabinet/slidecabinet_asset.xml"/>
<include file="furniture_sim/slidecabinet/slidecabinet_body.xml"/>

Available Types:

• hingecabinet: Hinged door mechanics

• slidecabinet: Linear sliding mechanism

• counters: Kitchen counter units

• bin: Storage containers

Appliances

Structure: furniture_sim/[type]/[type]_[index].xml for variants

<!-- Microwave with version selection -->
<include file="furniture_sim/microwave/microwave_asset.xml"/>
<include file="furniture_sim/microwave/microwave_body0.xml"/> <!-- Versions 0-3 -->

<!-- Kettle with version selection -->
<include file="furniture_sim/kettle/kettle_asset.xml"/>
<include file="furniture_sim/kettle/kettle_body0.xml"/> <!-- Versions 0-7 -->

Available Types:

• microwave: Door and control panel mechanics

• kettle: Handle and pour mechanics

• oven: Door, knob and burner mechanics

Materials and Textures

Standard textures in common/textures/:

<material name="surface"
         texture="wood2"
         rgba="1 1 1 1"/>

Categories:

• wood[0-4].png: Wood textures

• metal[0-4].png: Metal textures

• stone[0-4].png: Stone textures

Contact Properties

Standard contact parameters:

<contact>
    <pair geom1="hand" geom2="furniture" friction="1 0.005 0.0001"/>
</contact>