ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="coffee_grinder"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="hopper_cover_vis0" file="hopper_cover_vis0.obj" inertia="shell" /> | |
| <mesh name="hopper_cover_col0" file="hopper_cover_col0.obj" /> | |
| <mesh name="hopper_cover_col1" file="hopper_cover_col1.obj" /> | |
| <mesh name="hopper_cover_col2" file="hopper_cover_col2.obj" /> | |
| <mesh name="hopper_cover_col3" file="hopper_cover_col3.obj" /> | |
| <mesh name="hopper_cover_col4" file="hopper_cover_col4.obj" /> | |
| <mesh name="hopper_cover_col5" file="hopper_cover_col5.obj" /> | |
| <mesh name="box_vis0" file="box_vis0.obj" inertia="shell" /> | |
| <mesh name="box_col0" file="box_col0.obj" /> | |
| <mesh name="box_col1" file="box_col1.obj" /> | |
| <mesh name="box_col2" file="box_col2.obj" /> | |
| <mesh name="box_col3" file="box_col3.obj" /> | |
| <mesh name="box_col4" file="box_col4.obj" /> | |
| <mesh name="box_col5" file="box_col5.obj" /> | |
| <mesh name="box_col6" file="box_col6.obj" /> | |
| <mesh name="box_col7" file="box_col7.obj" /> | |
| <mesh name="box_col8" file="box_col8.obj" /> | |
| <mesh name="box_col9" file="box_col9.obj" /> | |
| <mesh name="box_col10" file="box_col10.obj" /> | |
| <mesh name="mill_vis0" file="mill_vis0.obj" inertia="shell" /> | |
| <mesh name="mill_vis1" file="mill_vis1.obj" inertia="shell" /> | |
| <mesh name="mill_col0" file="mill_col0.obj" /> | |
| <mesh name="mill_col1" file="mill_col1.obj" /> | |
| <mesh name="mill_col2" file="mill_col2.obj" /> | |
| <mesh name="mill_col3" file="mill_col3.obj" /> | |
| <mesh name="mill_col4" file="mill_col4.obj" /> | |
| <mesh name="mill_col5" file="mill_col5.obj" /> | |
| <mesh name="mill_col6" file="mill_col6.obj" /> | |
| <mesh name="mill_col7" file="mill_col7.obj" /> | |
| <mesh name="mill_col8" file="mill_col8.obj" /> | |
| <mesh name="mill_col9" file="mill_col9.obj" /> | |
| <mesh name="mill_col10" file="mill_col10.obj" /> | |
| <mesh name="mill_col11" file="mill_col11.obj" /> | |
| <mesh name="mill_col12" file="mill_col12.obj" /> | |
| <mesh name="mill_col13" file="mill_col13.obj" /> | |
| <mesh name="crank_handle_vis0" file="crank_handle_vis0.obj" inertia="shell" /> | |
| <mesh name="crank_handle_col0" file="crank_handle_col0.obj" /> | |
| <mesh name="crank_handle_col1" file="crank_handle_col1.obj" /> | |
| <mesh name="crank_handle_col2" file="crank_handle_col2.obj" /> | |
| <mesh name="crank_handle_col3" file="crank_handle_col3.obj" /> | |
| <mesh name="crank_knob_vis0" file="crank_knob_vis0.obj" inertia="shell" /> | |
| <mesh name="crank_knob_col0" file="crank_knob_col0.obj" /> | |
| <mesh name="drawer_vis0" file="drawer_vis0.obj" inertia="shell" /> | |
| <mesh name="drawer_vis1" file="drawer_vis1.obj" inertia="shell" /> | |
| <mesh name="drawer_col0" file="drawer_col0.obj" /> | |
| <mesh name="drawer_col1" file="drawer_col1.obj" /> | |
| <mesh name="drawer_col2" file="drawer_col2.obj" /> | |
| <mesh name="drawer_col3" file="drawer_col3.obj" /> | |
| <mesh name="drawer_col4" file="drawer_col4.obj" /> | |
| <mesh name="drawer_col5" file="drawer_col5.obj" /> | |
| <mesh name="drawer_col6" file="drawer_col6.obj" /> | |
| <mesh name="drawer_col7" file="drawer_col7.obj" /> | |
| <mesh name="drawer_col8" file="drawer_col8.obj" /> | |
| <mesh name="drawer_col9" file="drawer_col9.obj" /> | |
| <mesh name="drawer_col10" file="drawer_col10.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="hopper_cover" pos="0.00475 0 0.144" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="hopper_cover_vis0" rgba="0.72 0.55 0.24 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="hopper_cover_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00485017" /> | |
| <geom type="mesh" mesh="hopper_cover_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0525967" /> | |
| <geom type="mesh" mesh="hopper_cover_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00927206" /> | |
| <geom type="mesh" mesh="hopper_cover_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0348541" /> | |
| <geom type="mesh" mesh="hopper_cover_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0100502" /> | |
| <geom type="mesh" mesh="hopper_cover_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.024807" /> | |
| <body name="box" pos="0 0 -0.144" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="box_vis0" rgba="0.34 0.2 0.11 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="box_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.159936" /> | |
| <geom type="mesh" mesh="box_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.13328" /> | |
| <geom type="mesh" mesh="box_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.06664" /> | |
| <geom type="mesh" mesh="box_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.06664" /> | |
| <geom type="mesh" mesh="box_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.05712" /> | |
| <geom type="mesh" mesh="box_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00816" /> | |
| <geom type="mesh" mesh="box_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.00816" /> | |
| <geom type="mesh" mesh="box_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.0034" /> | |
| <geom type="mesh" mesh="box_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.0034" /> | |
| <geom type="mesh" mesh="box_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.0194181" /> | |
| <geom type="mesh" mesh="box_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.0194181" /> | |
| <body name="mill" pos="0 0 0" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="mill_vis0" rgba="0.13 0.13 0.14 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="mill_vis1" rgba="0.62 0.63 0.66 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="mill_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0797545" /> | |
| <geom type="mesh" mesh="mill_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.198328" /> | |
| <geom type="mesh" mesh="mill_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0529857" /> | |
| <geom type="mesh" mesh="mill_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0223586" /> | |
| <geom type="mesh" mesh="mill_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.022321" /> | |
| <geom type="mesh" mesh="mill_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00360318" /> | |
| <geom type="mesh" mesh="mill_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.00776618" /> | |
| <geom type="mesh" mesh="mill_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.00924932" /> | |
| <geom type="mesh" mesh="mill_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.00514374" /> | |
| <geom type="mesh" mesh="mill_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.0285224" /> | |
| <geom type="mesh" mesh="mill_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.000287466" /> | |
| <geom type="mesh" mesh="mill_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.000287466" /> | |
| <geom type="mesh" mesh="mill_col12" rgba="0.5 0.5 0.5 0" group="3" mass="0.000287466" /> | |
| <geom type="mesh" mesh="mill_col13" rgba="0.5 0.5 0.5 0" group="3" mass="0.000287466" /> | |
| <body name="crank_handle" pos="0 0 0.118" quat="1 0 0 0"> | |
| <joint name="crank" type="hinge" axis="0 0 1" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="-12.5664 12.5664" /> | |
| <geom type="mesh" mesh="crank_handle_vis0" rgba="0.13 0.13 0.14 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="crank_handle_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00723468" /> | |
| <geom type="mesh" mesh="crank_handle_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0432397" /> | |
| <geom type="mesh" mesh="crank_handle_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0438108" /> | |
| <geom type="mesh" mesh="crank_handle_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.00581166" /> | |
| <body name="crank_knob" pos="0.052 0 0.046" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="crank_knob_vis0" rgba="0.68 0.5 0.29 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="crank_knob_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00418799" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="drawer" pos="0 0 0.047" quat="1 0 0 0"> | |
| <joint name="drawer" type="slide" axis="0 -1 0" pos="0 0 0" damping="3" frictionloss="0.5" armature="0.001" limited="true" range="0 0.08" /> | |
| <geom type="mesh" mesh="drawer_vis0" rgba="0.34 0.2 0.11 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="drawer_vis1" rgba="0.72 0.55 0.24 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="drawer_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0283535" /> | |
| <geom type="mesh" mesh="drawer_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0627987" /> | |
| <geom type="mesh" mesh="drawer_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0254185" /> | |
| <geom type="mesh" mesh="drawer_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0254185" /> | |
| <geom type="mesh" mesh="drawer_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0167365" /> | |
| <geom type="mesh" mesh="drawer_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000154749" /> | |
| <geom type="mesh" mesh="drawer_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.000121307" /> | |
| <geom type="mesh" mesh="drawer_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.000108936" /> | |
| <geom type="mesh" mesh="drawer_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.000443037" /> | |
| <geom type="mesh" mesh="drawer_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.000188351" /> | |
| <geom type="mesh" mesh="drawer_col10" rgba="0.5 0.5 0.5 0" group="3" mass="5.50211e-05" /> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |