ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="mason_jar"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="jar_glass_vis0" file="jar_glass_vis0.obj" inertia="shell" /> | |
| <mesh name="jar_glass_col0" file="jar_glass_col0.obj" /> | |
| <mesh name="jar_glass_col1" file="jar_glass_col1.obj" /> | |
| <mesh name="jar_glass_col2" file="jar_glass_col2.obj" /> | |
| <mesh name="jar_glass_col3" file="jar_glass_col3.obj" /> | |
| <mesh name="jar_glass_col4" file="jar_glass_col4.obj" /> | |
| <mesh name="jar_glass_col5" file="jar_glass_col5.obj" /> | |
| <mesh name="jar_glass_col6" file="jar_glass_col6.obj" /> | |
| <mesh name="jar_glass_col7" file="jar_glass_col7.obj" /> | |
| <mesh name="jar_glass_col8" file="jar_glass_col8.obj" /> | |
| <mesh name="jar_glass_col9" file="jar_glass_col9.obj" /> | |
| <mesh name="jar_glass_col10" file="jar_glass_col10.obj" /> | |
| <mesh name="jar_glass_col11" file="jar_glass_col11.obj" /> | |
| <mesh name="screw_band_vis0" file="screw_band_vis0.obj" inertia="shell" /> | |
| <mesh name="screw_band_col0" file="screw_band_col0.obj" /> | |
| <mesh name="screw_band_col1" file="screw_band_col1.obj" /> | |
| <mesh name="screw_band_col2" file="screw_band_col2.obj" /> | |
| <mesh name="screw_band_col3" file="screw_band_col3.obj" /> | |
| <mesh name="screw_band_col4" file="screw_band_col4.obj" /> | |
| <mesh name="screw_band_col5" file="screw_band_col5.obj" /> | |
| <mesh name="lid_disc_vis0" file="lid_disc_vis0.obj" inertia="shell" /> | |
| <mesh name="lid_disc_col0" file="lid_disc_col0.obj" /> | |
| <mesh name="lid_disc_col1" file="lid_disc_col1.obj" /> | |
| <mesh name="lid_disc_col2" file="lid_disc_col2.obj" /> | |
| <mesh name="lid_disc_col3" file="lid_disc_col3.obj" /> | |
| <mesh name="lid_disc_col4" file="lid_disc_col4.obj" /> | |
| <mesh name="lid_disc_col5" file="lid_disc_col5.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="jar_glass" pos="0 -6.13276e-07 0" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="jar_glass_vis0" rgba="0.95 0.98 0.97 0.25" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="jar_glass_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00744654" /> | |
| <geom type="mesh" mesh="jar_glass_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0173766" /> | |
| <geom type="mesh" mesh="jar_glass_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0197519" /> | |
| <geom type="mesh" mesh="jar_glass_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.016117" /> | |
| <geom type="mesh" mesh="jar_glass_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0404008" /> | |
| <geom type="mesh" mesh="jar_glass_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.0174808" /> | |
| <geom type="mesh" mesh="jar_glass_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.000427696" /> | |
| <geom type="mesh" mesh="jar_glass_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.000729369" /> | |
| <geom type="mesh" mesh="jar_glass_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.000339377" /> | |
| <geom type="mesh" mesh="jar_glass_col9" rgba="0.5 0.5 0.5 0" group="3" mass="7.44015e-05" /> | |
| <geom type="mesh" mesh="jar_glass_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.000267116" /> | |
| <geom type="mesh" mesh="jar_glass_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.00036175" /> | |
| <body name="screw_band" pos="0 0 0.103875" quat="1 0 0 0"> | |
| <joint name="lid" type="hinge" axis="0 0 1" pos="0 0 0" damping="0.01" frictionloss="0.02" armature="0.001" limited="true" range="0 9.42478" /> | |
| <geom type="mesh" mesh="screw_band_vis0" rgba="0.74 0.74 0.72 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="screw_band_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00282262" /> | |
| <geom type="mesh" mesh="screw_band_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00164201" /> | |
| <geom type="mesh" mesh="screw_band_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00333584" /> | |
| <geom type="mesh" mesh="screw_band_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0010037" /> | |
| <geom type="mesh" mesh="screw_band_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.00191548" /> | |
| <geom type="mesh" mesh="screw_band_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00152858" /> | |
| </body> | |
| <body name="lid_disc" pos="0 0 0.10875" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="lid_disc_vis0" rgba="0.74 0.74 0.72 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="lid_disc_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00461568" /> | |
| <geom type="mesh" mesh="lid_disc_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00445809" /> | |
| <geom type="mesh" mesh="lid_disc_col2" rgba="0.5 0.5 0.5 0" group="3" mass="1e-05" /> | |
| <geom type="mesh" mesh="lid_disc_col3" rgba="0.5 0.5 0.5 0" group="3" mass="1.92302e-05" /> | |
| <geom type="mesh" mesh="lid_disc_col4" rgba="0.5 0.5 0.5 0" group="3" mass="3.07429e-05" /> | |
| <geom type="mesh" mesh="lid_disc_col5" rgba="0.5 0.5 0.5 0" group="3" mass="4.56596e-05" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |