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Datasets:
Devon-Huang
/
Sim-Assets

Tasks:
Robotics
Modalities:
3D
Tags:
simulation
manipulation
3d
isaac-sim
mjcf
License:
Dataset card Files
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Sim-Assets / articulated /kitchenware /compost_bin /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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8.28 kB
<mujoco model="compost_bin">
<compiler angle="radian" meshdir="meshes" />
<asset>
<mesh name="body_vis0" file="body_vis0.obj" inertia="shell" />
<mesh name="body_col0" file="body_col0.obj" />
<mesh name="body_col1" file="body_col1.obj" />
<mesh name="body_col2" file="body_col2.obj" />
<mesh name="body_col3" file="body_col3.obj" />
<mesh name="body_col4" file="body_col4.obj" />
<mesh name="body_col5" file="body_col5.obj" />
<mesh name="body_col6" file="body_col6.obj" />
<mesh name="body_col7" file="body_col7.obj" />
<mesh name="body_col8" file="body_col8.obj" />
<mesh name="body_col9" file="body_col9.obj" />
<mesh name="body_col10" file="body_col10.obj" />
<mesh name="body_col11" file="body_col11.obj" />
<mesh name="body_col12" file="body_col12.obj" />
<mesh name="body_col13" file="body_col13.obj" />
<mesh name="body_col14" file="body_col14.obj" />
<mesh name="body_col15" file="body_col15.obj" />
<mesh name="body_col16" file="body_col16.obj" />
<mesh name="body_col17" file="body_col17.obj" />
<mesh name="body_col18" file="body_col18.obj" />
<mesh name="body_col19" file="body_col19.obj" />
<mesh name="body_col20" file="body_col20.obj" />
<mesh name="body_col21" file="body_col21.obj" />
<mesh name="body_col22" file="body_col22.obj" />
<mesh name="body_col23" file="body_col23.obj" />
<mesh name="body_col24" file="body_col24.obj" />
<mesh name="body_col25" file="body_col25.obj" />
<mesh name="lid_vis0" file="lid_vis0.obj" inertia="shell" />
<mesh name="lid_vis1" file="lid_vis1.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="lid_col6" file="lid_col6.obj" />
<mesh name="lid_col7" file="lid_col7.obj" />
<mesh name="lid_col8" file="lid_col8.obj" />
<mesh name="liner_vis0" file="liner_vis0.obj" inertia="shell" />
<mesh name="liner_col0" file="liner_col0.obj" />
<mesh name="liner_col1" file="liner_col1.obj" />
<mesh name="liner_col2" file="liner_col2.obj" />
<mesh name="liner_col3" file="liner_col3.obj" />
<mesh name="liner_col4" file="liner_col4.obj" />
<mesh name="liner_col5" file="liner_col5.obj" />
<mesh name="liner_col6" file="liner_col6.obj" />
<mesh name="liner_col7" file="liner_col7.obj" />
<mesh name="liner_col8" file="liner_col8.obj" />
<mesh name="liner_col9" file="liner_col9.obj" />
<mesh name="liner_col10" file="liner_col10.obj" />
<mesh name="liner_col11" file="liner_col11.obj" />
<mesh name="liner_col12" file="liner_col12.obj" />
</asset>
<worldbody>
<body name="body" pos="0.0055636 0 0" quat="0.707107 0 0 -0.707107">
<geom type="mesh" mesh="body_vis0" rgba="0.74 0.75 0.76 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="body_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0547754" />
<geom type="mesh" mesh="body_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.211349" />
<geom type="mesh" mesh="body_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.120429" />
<geom type="mesh" mesh="body_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0406949" />
<geom type="mesh" mesh="body_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0666554" />
<geom type="mesh" mesh="body_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.0156926" />
<geom type="mesh" mesh="body_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.0103375" />
<geom type="mesh" mesh="body_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.000596928" />
<geom type="mesh" mesh="body_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.00137706" />
<geom type="mesh" mesh="body_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.00227459" />
<geom type="mesh" mesh="body_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.00155934" />
<geom type="mesh" mesh="body_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.00251058" />
<geom type="mesh" mesh="body_col12" rgba="0.5 0.5 0.5 0" group="3" mass="0.00486536" />
<geom type="mesh" mesh="body_col13" rgba="0.5 0.5 0.5 0" group="3" mass="0.00303044" />
<geom type="mesh" mesh="body_col14" rgba="0.5 0.5 0.5 0" group="3" mass="0.00111741" />
<geom type="mesh" mesh="body_col15" rgba="0.5 0.5 0.5 0" group="3" mass="0.000322271" />
<geom type="mesh" mesh="body_col16" rgba="0.5 0.5 0.5 0" group="3" mass="0.000322507" />
<geom type="mesh" mesh="body_col17" rgba="0.5 0.5 0.5 0" group="3" mass="0.0012135" />
<geom type="mesh" mesh="body_col18" rgba="0.5 0.5 0.5 0" group="3" mass="0.000322333" />
<geom type="mesh" mesh="body_col19" rgba="0.5 0.5 0.5 0" group="3" mass="0.000322436" />
<geom type="mesh" mesh="body_col20" rgba="0.5 0.5 0.5 0" group="3" mass="0.000745738" />
<geom type="mesh" mesh="body_col21" rgba="0.5 0.5 0.5 0" group="3" mass="0.0011751" />
<geom type="mesh" mesh="body_col22" rgba="0.5 0.5 0.5 0" group="3" mass="3.27935e-05" />
<geom type="mesh" mesh="body_col23" rgba="0.5 0.5 0.5 0" group="3" mass="0.000745738" />
<geom type="mesh" mesh="body_col24" rgba="0.5 0.5 0.5 0" group="3" mass="0.0011751" />
<geom type="mesh" mesh="body_col25" rgba="0.5 0.5 0.5 0" group="3" mass="3.27935e-05" />
<body name="lid" pos="-2.88889e-34 0.0912 0.1408" quat="1 0 0 0">
<joint name="lid" type="hinge" axis="-1 1.22465e-16 0" pos="0 0 0" damping="0.05" frictionloss="0.2034" armature="0.001" limited="true" range="0 1.74533" />
<geom type="mesh" mesh="lid_vis0" rgba="0.74 0.75 0.76 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="lid_vis1" rgba="0.8 0.81 0.82 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="0.0358047" />
<geom type="mesh" mesh="lid_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0340122" />
<geom type="mesh" mesh="lid_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0314662" />
<geom type="mesh" mesh="lid_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0318594" />
<geom type="mesh" mesh="lid_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0197847" />
<geom type="mesh" mesh="lid_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00717848" />
<geom type="mesh" mesh="lid_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.00296329" />
<geom type="mesh" mesh="lid_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.00020889" />
<geom type="mesh" mesh="lid_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.000278171" />
</body>
<body name="liner" pos="0 0 0" quat="1 0 0 0">
<geom type="mesh" mesh="liner_vis0" rgba="0.74 0.75 0.76 1" contype="0" conaffinity="0" group="2" mass="0" />
<geom type="mesh" mesh="liner_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0362964" />
<geom type="mesh" mesh="liner_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0266554" />
<geom type="mesh" mesh="liner_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0365176" />
<geom type="mesh" mesh="liner_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.110593" />
<geom type="mesh" mesh="liner_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0465153" />
<geom type="mesh" mesh="liner_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.101462" />
<geom type="mesh" mesh="liner_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.0128599" />
<geom type="mesh" mesh="liner_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.000180251" />
<geom type="mesh" mesh="liner_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.00134172" />
<geom type="mesh" mesh="liner_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.000600076" />
<geom type="mesh" mesh="liner_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.00115772" />
<geom type="mesh" mesh="liner_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.000547295" />
<geom type="mesh" mesh="liner_col12" rgba="0.5 0.5 0.5 0" group="3" mass="0.000469644" />
</body>
</body>
</worldbody>
</mujoco>