ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="pepper_mill"> | |
| <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="grinder_vis0" file="grinder_vis0.obj" inertia="shell" /> | |
| <mesh name="grinder_col0" file="grinder_col0.obj" /> | |
| <mesh name="grinder_col1" file="grinder_col1.obj" /> | |
| <mesh name="grinder_col2" file="grinder_col2.obj" /> | |
| <mesh name="grinder_col3" file="grinder_col3.obj" /> | |
| <mesh name="grinder_col4" file="grinder_col4.obj" /> | |
| <mesh name="grinder_col5" file="grinder_col5.obj" /> | |
| <mesh name="cap_vis0" file="cap_vis0.obj" inertia="shell" /> | |
| <mesh name="cap_col0" file="cap_col0.obj" /> | |
| <mesh name="cap_col1" file="cap_col1.obj" /> | |
| <mesh name="cap_col2" file="cap_col2.obj" /> | |
| <mesh name="cap_col3" file="cap_col3.obj" /> | |
| <mesh name="cap_col4" file="cap_col4.obj" /> | |
| <mesh name="cap_col5" file="cap_col5.obj" /> | |
| <mesh name="knob_vis0" file="knob_vis0.obj" inertia="shell" /> | |
| <mesh name="knob_col0" file="knob_col0.obj" /> | |
| <mesh name="knob_col1" file="knob_col1.obj" /> | |
| <mesh name="knob_col2" file="knob_col2.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="body" pos="0 0 0" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="body_vis0" rgba="0.84 0.68 0.46 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="0.038591" /> | |
| <geom type="mesh" mesh="body_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0385989" /> | |
| <geom type="mesh" mesh="body_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0112043" /> | |
| <geom type="mesh" mesh="body_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0233446" /> | |
| <geom type="mesh" mesh="body_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.023331" /> | |
| <geom type="mesh" mesh="body_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.011209" /> | |
| <body name="grinder" pos="0 0 0" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="grinder_vis0" rgba="0.68 0.69 0.71 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="grinder_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0210505" /> | |
| <geom type="mesh" mesh="grinder_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0038783" /> | |
| <geom type="mesh" mesh="grinder_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.0218243" /> | |
| <geom type="mesh" mesh="grinder_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0237807" /> | |
| <geom type="mesh" mesh="grinder_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0212882" /> | |
| <geom type="mesh" mesh="grinder_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00702139" /> | |
| </body> | |
| <body name="cap" pos="0 0 0" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="cap_vis0" rgba="0.84 0.68 0.46 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="cap_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00195192" /> | |
| <geom type="mesh" mesh="cap_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000704664" /> | |
| <geom type="mesh" mesh="cap_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.000834977" /> | |
| <geom type="mesh" mesh="cap_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.000842056" /> | |
| <geom type="mesh" mesh="cap_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000122809" /> | |
| <geom type="mesh" mesh="cap_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000780541" /> | |
| </body> | |
| <body name="knob" pos="0 0 0.168" quat="1 0 0 0"> | |
| <joint name="knob" type="hinge" axis="0 0 1" pos="0 0 0" damping="0.01" frictionloss="0.02" armature="0.001" limited="true" range="-12.5664 12.5664" /> | |
| <geom type="mesh" mesh="knob_vis0" rgba="0.84 0.68 0.46 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="knob_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00718669" /> | |
| <geom type="mesh" mesh="knob_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000693622" /> | |
| <geom type="mesh" mesh="knob_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.000226505" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |