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Datasets:
Devon-Huang
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Sim-Assets

Tasks:
Robotics
Modalities:
3D
Tags:
simulation
manipulation
3d
isaac-sim
mjcf
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Sim-Assets / articulated /electronics /laptop /model.xml
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Devon-Huang
ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
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<mujoco model="laptop">
<compiler angle="radian" meshdir="meshes" />
<asset>
<mesh name="base_vis0" file="base_vis0.obj" inertia="shell" />
<mesh name="base_vis1" file="base_vis1.obj" inertia="shell" />
<mesh name="base_vis2" file="base_vis2.obj" inertia="shell" />
<mesh name="base_vis3" file="base_vis3.obj" inertia="shell" />
<mesh name="base_vis4" file="base_vis4.obj" inertia="shell" />
<mesh name="base_col0" file="base_col0.obj" />
<mesh name="base_col1" file="base_col1.obj" />
<mesh name="base_col2" file="base_col2.obj" />
<mesh name="base_col3" file="base_col3.obj" />
<mesh name="base_col4" file="base_col4.obj" />
<mesh name="base_col5" file="base_col5.obj" />
<mesh name="base_col6" file="base_col6.obj" />
<mesh name="base_col7" file="base_col7.obj" />
<mesh name="lid_vis0" file="lid_vis0.obj" inertia="shell" />
<mesh name="lid_vis1" file="lid_vis1.obj" inertia="shell" />
<mesh name="lid_vis2" file="lid_vis2.obj" inertia="shell" />
<mesh name="lid_vis3" file="lid_vis3.obj" inertia="shell" />
<mesh name="lid_vis4" file="lid_vis4.obj" inertia="shell" />
<mesh name="lid_col0" file="lid_col0.obj" />
<mesh name="lid_col1" file="lid_col1.obj" />
<mesh name="lid_col2" file="lid_col2.obj" />
<mesh name="lid_col3" file="lid_col3.obj" />
<mesh name="lid_col4" file="lid_col4.obj" />
<mesh name="lid_col5" file="lid_col5.obj" />
<mesh name="key_power_vis0" file="key_power_vis0.obj" inertia="shell" />
<mesh name="key_power_col0" file="key_power_col0.obj" />
<mesh name="key_backspace_vis0" file="key_backspace_vis0.obj" inertia="shell" />
<mesh name="key_backspace_col0" file="key_backspace_col0.obj" />
<mesh name="key_enter_vis0" file="key_enter_vis0.obj" inertia="shell" />
<mesh name="key_enter_col0" file="key_enter_col0.obj" />
<mesh name="key_space_vis0" file="key_space_vis0.obj" inertia="shell" />
<mesh name="key_space_col0" file="key_space_col0.obj" />
</asset>
<worldbody>
<body name="base" pos="0 0 1.18744e-11" quat="0.707107 0 0 -0.707107">
<geom type="mesh" mesh="base_vis0" rgba="0.72 0.73 0.75 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="base_vis1" rgba="0.13 0.13 0.14 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="base_vis2" rgba="0.2 0.21 0.23 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="base_vis3" rgba="0.06 0.06 0.065 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="base_vis4" rgba="0.1 0.105 0.115 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="base_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.576806" />
<geom type="mesh" mesh="base_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.221864" />
<geom type="mesh" mesh="base_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0137787" />
<geom type="mesh" mesh="base_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0166016" />
<geom type="mesh" mesh="base_col4" rgba="0.5 0.5 0.5 0" group="3" mass="7.09014e-05" />
<geom type="mesh" mesh="base_col5" rgba="0.5 0.5 0.5 0" group="3" mass="7.09014e-05" />
<geom type="mesh" mesh="base_col6" rgba="0.5 0.5 0.5 0" group="3" mass="7.09014e-05" />
<geom type="mesh" mesh="base_col7" rgba="0.5 0.5 0.5 0" group="3" mass="7.09014e-05" />
<body name="lid" pos="0 0.107 0.0107" quat="1 0 0 0">
<joint name="lid" type="hinge" axis="-1 1.22465e-16 0" pos="0 0 0" damping="0.15" frictionloss="0.5534" armature="0.001" limited="true" range="0 2.35619" />
<geom type="mesh" mesh="lid_vis0" rgba="0.72 0.73 0.75 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="lid_vis1" rgba="0.045 0.045 0.05 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="lid_vis2" rgba="0.03 0.035 0.045 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="lid_vis3" rgba="0.05 0.05 0.06 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="lid_vis4" rgba="0.68 0.69 0.72 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="lid_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.276948" />
<geom type="mesh" mesh="lid_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.060361" />
<geom type="mesh" mesh="lid_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0357554" />
<geom type="mesh" mesh="lid_col3" rgba="0.5 0.5 0.5 0" group="3" mass="1e-05" />
<geom type="mesh" mesh="lid_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000156421" />
<geom type="mesh" mesh="lid_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000156421" />
</body>
<body name="key_power" pos="0.133 0.0745 0.0073" quat="1 0 0 0">
<geom type="mesh" mesh="key_power_vis0" rgba="0.1 0.105 0.115 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="key_power_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" />
</body>
<body name="key_backspace" pos="0.1235 0.0555 0.0073" quat="1 0 0 0">
<geom type="mesh" mesh="key_backspace_vis0" rgba="0.1 0.105 0.115 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="key_backspace_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" />
</body>
<body name="key_enter" pos="0.121125 0.0175 0.0073" quat="1 0 0 0">
<geom type="mesh" mesh="key_enter_vis0" rgba="0.1 0.105 0.115 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="key_enter_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" />
</body>
<body name="key_space" pos="-0.026125 -0.0205 0.0073" quat="1 0 0 0">
<geom type="mesh" mesh="key_space_vis0" rgba="0.1 0.105 0.115 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="key_space_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00245527" />
</body>
</body>
</worldbody>
</mujoco>