ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="switch_box"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="enclosure_vis0" file="enclosure_vis0.obj" inertia="shell" /> | |
| <mesh name="enclosure_vis1" file="enclosure_vis1.obj" inertia="shell" /> | |
| <mesh name="enclosure_vis2" file="enclosure_vis2.obj" inertia="shell" /> | |
| <mesh name="enclosure_col0" file="enclosure_col0.obj" /> | |
| <mesh name="enclosure_col1" file="enclosure_col1.obj" /> | |
| <mesh name="enclosure_col2" file="enclosure_col2.obj" /> | |
| <mesh name="enclosure_col3" file="enclosure_col3.obj" /> | |
| <mesh name="enclosure_col4" file="enclosure_col4.obj" /> | |
| <mesh name="enclosure_col5" file="enclosure_col5.obj" /> | |
| <mesh name="enclosure_col6" file="enclosure_col6.obj" /> | |
| <mesh name="enclosure_col7" file="enclosure_col7.obj" /> | |
| <mesh name="enclosure_col8" file="enclosure_col8.obj" /> | |
| <mesh name="enclosure_col9" file="enclosure_col9.obj" /> | |
| <mesh name="enclosure_col10" file="enclosure_col10.obj" /> | |
| <mesh name="enclosure_col11" file="enclosure_col11.obj" /> | |
| <mesh name="enclosure_col12" file="enclosure_col12.obj" /> | |
| <mesh name="enclosure_col13" file="enclosure_col13.obj" /> | |
| <mesh name="enclosure_col14" file="enclosure_col14.obj" /> | |
| <mesh name="enclosure_col15" file="enclosure_col15.obj" /> | |
| <mesh name="enclosure_col16" file="enclosure_col16.obj" /> | |
| <mesh name="door_vis0" file="door_vis0.obj" inertia="shell" /> | |
| <mesh name="door_col0" file="door_col0.obj" /> | |
| <mesh name="door_col1" file="door_col1.obj" /> | |
| <mesh name="door_col2" file="door_col2.obj" /> | |
| <mesh name="door_col3" file="door_col3.obj" /> | |
| <mesh name="door_col4" file="door_col4.obj" /> | |
| <mesh name="door_col5" file="door_col5.obj" /> | |
| <mesh name="door_col6" file="door_col6.obj" /> | |
| <mesh name="door_col7" file="door_col7.obj" /> | |
| <mesh name="rotary_handle_vis0" file="rotary_handle_vis0.obj" inertia="shell" /> | |
| <mesh name="rotary_handle_col0" file="rotary_handle_col0.obj" /> | |
| <mesh name="rotary_handle_col1" file="rotary_handle_col1.obj" /> | |
| <mesh name="rotary_handle_col2" file="rotary_handle_col2.obj" /> | |
| <mesh name="rotary_handle_col3" file="rotary_handle_col3.obj" /> | |
| <mesh name="rotary_handle_col4" file="rotary_handle_col4.obj" /> | |
| <mesh name="rotary_handle_col5" file="rotary_handle_col5.obj" /> | |
| <mesh name="padlock_hasp_vis0" file="padlock_hasp_vis0.obj" inertia="shell" /> | |
| <mesh name="padlock_hasp_col0" file="padlock_hasp_col0.obj" /> | |
| <mesh name="padlock_hasp_col1" file="padlock_hasp_col1.obj" /> | |
| <mesh name="padlock_hasp_col2" file="padlock_hasp_col2.obj" /> | |
| <mesh name="padlock_hasp_col3" file="padlock_hasp_col3.obj" /> | |
| <mesh name="padlock_hasp_col4" file="padlock_hasp_col4.obj" /> | |
| <mesh name="padlock_hasp_col5" file="padlock_hasp_col5.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="enclosure" pos="0.00909965 0.011025 0" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="enclosure_vis0" rgba="0.55 0.57 0.59 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="enclosure_vis1" rgba="0.13 0.13 0.14 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="enclosure_vis2" rgba="0.72 0.73 0.75 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="enclosure_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0394588" /> | |
| <geom type="mesh" mesh="enclosure_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.115208" /> | |
| <geom type="mesh" mesh="enclosure_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.117809" /> | |
| <geom type="mesh" mesh="enclosure_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0546056" /> | |
| <geom type="mesh" mesh="enclosure_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0708693" /> | |
| <geom type="mesh" mesh="enclosure_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.0279028" /> | |
| <geom type="mesh" mesh="enclosure_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.0734856" /> | |
| <geom type="mesh" mesh="enclosure_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.00374818" /> | |
| <geom type="mesh" mesh="enclosure_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.0038523" /> | |
| <geom type="mesh" mesh="enclosure_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.0143553" /> | |
| <geom type="mesh" mesh="enclosure_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.735349" /> | |
| <geom type="mesh" mesh="enclosure_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.0119348" /> | |
| <geom type="mesh" mesh="enclosure_col12" rgba="0.5 0.5 0.5 0" group="3" mass="0.000233161" /> | |
| <geom type="mesh" mesh="enclosure_col13" rgba="0.5 0.5 0.5 0" group="3" mass="0.000233159" /> | |
| <geom type="mesh" mesh="enclosure_col14" rgba="0.5 0.5 0.5 0" group="3" mass="0.000233158" /> | |
| <geom type="mesh" mesh="enclosure_col15" rgba="0.5 0.5 0.5 0" group="3" mass="0.000233159" /> | |
| <geom type="mesh" mesh="enclosure_col16" rgba="0.5 0.5 0.5 0" group="3" mass="0.00516782" /> | |
| <body name="door" pos="-0.0721 -0.0553 0" quat="1 0 0 0"> | |
| <joint name="door" type="hinge" axis="0 0 -1" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="0 1.74533" /> | |
| <geom type="mesh" mesh="door_vis0" rgba="0.55 0.57 0.59 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="door_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.273114" /> | |
| <geom type="mesh" mesh="door_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00212477" /> | |
| <geom type="mesh" mesh="door_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0022019" /> | |
| <geom type="mesh" mesh="door_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.00775106" /> | |
| <geom type="mesh" mesh="door_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.00212477" /> | |
| <geom type="mesh" mesh="door_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00219943" /> | |
| <geom type="mesh" mesh="door_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.0123688" /> | |
| <geom type="mesh" mesh="door_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.0120345" /> | |
| </body> | |
| <body name="rotary_handle" pos="0.07 0.0182 0.133" quat="1 0 0 0"> | |
| <joint name="lever" type="hinge" axis="1 0 0" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="0 1.5708" /> | |
| <geom type="mesh" mesh="rotary_handle_vis0" rgba="0.055 0.058 0.062 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="rotary_handle_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00289726" /> | |
| <geom type="mesh" mesh="rotary_handle_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000679258" /> | |
| <geom type="mesh" mesh="rotary_handle_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.002194" /> | |
| <geom type="mesh" mesh="rotary_handle_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.00353949" /> | |
| <geom type="mesh" mesh="rotary_handle_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.00741345" /> | |
| <geom type="mesh" mesh="rotary_handle_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00167439" /> | |
| </body> | |
| <body name="padlock_hasp" pos="0 0 0" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="padlock_hasp_vis0" rgba="0.72 0.73 0.75 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="padlock_hasp_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.000257221" /> | |
| <geom type="mesh" mesh="padlock_hasp_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000257961" /> | |
| <geom type="mesh" mesh="padlock_hasp_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00206686" /> | |
| <geom type="mesh" mesh="padlock_hasp_col3" rgba="0.5 0.5 0.5 0" group="3" mass="9.79197e-05" /> | |
| <geom type="mesh" mesh="padlock_hasp_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000354882" /> | |
| <geom type="mesh" mesh="padlock_hasp_col5" rgba="0.5 0.5 0.5 0" group="3" mass="3.15021e-05" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |