ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="lunch_box_hinged"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="base_vis0" file="base_vis0.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="upper_tier_vis0" file="upper_tier_vis0.obj" inertia="shell" /> | |
| <mesh name="upper_tier_col0" file="upper_tier_col0.obj" /> | |
| <mesh name="upper_tier_col1" file="upper_tier_col1.obj" /> | |
| <mesh name="upper_tier_col2" file="upper_tier_col2.obj" /> | |
| <mesh name="upper_tier_col3" file="upper_tier_col3.obj" /> | |
| <mesh name="upper_tier_col4" file="upper_tier_col4.obj" /> | |
| <mesh name="upper_tier_col5" file="upper_tier_col5.obj" /> | |
| <mesh name="lid_vis0" file="lid_vis0.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="handle_mount_vis0" file="handle_mount_vis0.obj" inertia="shell" /> | |
| <mesh name="handle_mount_col0" file="handle_mount_col0.obj" /> | |
| <mesh name="handle_vis0" file="handle_vis0.obj" inertia="shell" /> | |
| <mesh name="handle_col0" file="handle_col0.obj" /> | |
| <mesh name="handle_col1" file="handle_col1.obj" /> | |
| <mesh name="handle_col2" file="handle_col2.obj" /> | |
| <mesh name="latch_vis0" file="latch_vis0.obj" inertia="shell" /> | |
| <mesh name="latch_col0" file="latch_col0.obj" /> | |
| <mesh name="latch_col1" file="latch_col1.obj" /> | |
| <mesh name="latch_col2" file="latch_col2.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="base" pos="0.0017505 6.93889e-18 0" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="base_vis0" rgba="0.85 0.82 0.73 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="0.0167236" /> | |
| <geom type="mesh" mesh="base_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.08314" /> | |
| <geom type="mesh" mesh="base_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0360856" /> | |
| <geom type="mesh" mesh="base_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0156623" /> | |
| <geom type="mesh" mesh="base_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0241216" /> | |
| <body name="upper_tier" pos="0 0 0.046" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="upper_tier_vis0" rgba="0.93 0.91 0.85 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="upper_tier_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0225143" /> | |
| <geom type="mesh" mesh="upper_tier_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0107339" /> | |
| <geom type="mesh" mesh="upper_tier_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0329825" /> | |
| <geom type="mesh" mesh="upper_tier_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0291949" /> | |
| <geom type="mesh" mesh="upper_tier_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.072705" /> | |
| <geom type="mesh" mesh="upper_tier_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00666563" /> | |
| <body name="lid" pos="0 0.065 0.043" quat="1 0 0 0"> | |
| <joint name="lid" type="hinge" axis="-1 1.22465e-16 0" pos="0 0 0" damping="0.05" frictionloss="0.1696" armature="0.001" limited="true" range="0 1.91986" /> | |
| <geom type="mesh" mesh="lid_vis0" rgba="0.13 0.36 0.38 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="0.0874022" /> | |
| <geom type="mesh" mesh="lid_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0112328" /> | |
| <geom type="mesh" mesh="lid_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0163037" /> | |
| <geom type="mesh" mesh="lid_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0227623" /> | |
| <geom type="mesh" mesh="lid_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.00949569" /> | |
| <body name="handle_mount" pos="0 -0.055 0.023" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="handle_mount_vis0" rgba="0.22 0.25 0.27 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="handle_mount_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.01805" /> | |
| <body name="handle" pos="0 0 0" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="handle_vis0" rgba="0.22 0.25 0.27 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="handle_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00908403" /> | |
| <geom type="mesh" mesh="handle_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00562298" /> | |
| <geom type="mesh" mesh="handle_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00562298" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="latch" pos="0 -0.069 0.016" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="latch_vis0" rgba="0.22 0.25 0.27 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="latch_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00304446" /> | |
| <geom type="mesh" mesh="latch_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00252972" /> | |
| <geom type="mesh" mesh="latch_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.000220824" /> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |