ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="spice_jar"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="jar_vis0" file="jar_vis0.obj" inertia="shell" /> | |
| <mesh name="jar_vis1" file="jar_vis1.obj" inertia="shell" /> | |
| <mesh name="jar_col0" file="jar_col0.obj" /> | |
| <mesh name="jar_col1" file="jar_col1.obj" /> | |
| <mesh name="jar_col2" file="jar_col2.obj" /> | |
| <mesh name="jar_col3" file="jar_col3.obj" /> | |
| <mesh name="jar_col4" file="jar_col4.obj" /> | |
| <mesh name="jar_col5" file="jar_col5.obj" /> | |
| <mesh name="jar_col6" file="jar_col6.obj" /> | |
| <mesh name="jar_col7" file="jar_col7.obj" /> | |
| <mesh name="jar_col8" file="jar_col8.obj" /> | |
| <mesh name="jar_col9" file="jar_col9.obj" /> | |
| <mesh name="jar_col10" file="jar_col10.obj" /> | |
| <mesh name="jar_col11" file="jar_col11.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="door_vis0" file="door_vis0.obj" inertia="shell" /> | |
| <mesh name="door_col0" file="door_col0.obj" /> | |
| <mesh name="door_col1" file="door_col1.obj" /> | |
| <mesh name="door_col2" file="door_col2.obj" /> | |
| <mesh name="door_col3" file="door_col3.obj" /> | |
| <mesh name="door_col4" file="door_col4.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="jar" pos="8.23755e-06 1.13714e-05 0" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="jar_vis0" rgba="0.87 0.91 0.89 0.25" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="jar_vis1" rgba="0.58 0.59 0.61 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="jar_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00832085" /> | |
| <geom type="mesh" mesh="jar_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00811419" /> | |
| <geom type="mesh" mesh="jar_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.021953" /> | |
| <geom type="mesh" mesh="jar_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0225591" /> | |
| <geom type="mesh" mesh="jar_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0229428" /> | |
| <geom type="mesh" mesh="jar_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.0170189" /> | |
| <geom type="mesh" mesh="jar_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.000899175" /> | |
| <geom type="mesh" mesh="jar_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.000519676" /> | |
| <geom type="mesh" mesh="jar_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.000273502" /> | |
| <geom type="mesh" mesh="jar_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.000760203" /> | |
| <geom type="mesh" mesh="jar_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.000419276" /> | |
| <geom type="mesh" mesh="jar_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.000712011" /> | |
| <body name="cap" pos="0 0 0" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="cap_vis0" rgba="0.1 0.1 0.11 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="0.00116083" /> | |
| <geom type="mesh" mesh="cap_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00356868" /> | |
| <geom type="mesh" mesh="cap_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00051104" /> | |
| <geom type="mesh" mesh="cap_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.000706822" /> | |
| <geom type="mesh" mesh="cap_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000736711" /> | |
| <geom type="mesh" mesh="cap_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000781378" /> | |
| <body name="door" pos="0 0.02 0.0992" quat="1 0 0 0"> | |
| <joint name="lid" type="hinge" axis="-1 1.22465e-16 0" pos="0 0 0" damping="0.002" frictionloss="0.02" armature="0.001" limited="true" range="0 2.0944" /> | |
| <geom type="mesh" mesh="door_vis0" rgba="0.1 0.1 0.11 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="door_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00178214" /> | |
| <geom type="mesh" mesh="door_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000112115" /> | |
| <geom type="mesh" mesh="door_col2" rgba="0.5 0.5 0.5 0" group="3" mass="5.76011e-05" /> | |
| <geom type="mesh" mesh="door_col3" rgba="0.5 0.5 0.5 0" group="3" mass="3.2218e-05" /> | |
| <geom type="mesh" mesh="door_col4" rgba="0.5 0.5 0.5 0" group="3" mass="1.5925e-05" /> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |