ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="stapler"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="base_vis0" file="base_vis0.obj" inertia="shell" /> | |
| <mesh name="base_vis1" file="base_vis1.obj" inertia="shell" /> | |
| <mesh name="base_vis2" file="base_vis2.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="base_col5" file="base_col5.obj" /> | |
| <mesh name="base_col6" file="base_col6.obj" /> | |
| <mesh name="base_col7" file="base_col7.obj" /> | |
| <mesh name="base_col8" file="base_col8.obj" /> | |
| <mesh name="base_col9" file="base_col9.obj" /> | |
| <mesh name="base_col10" file="base_col10.obj" /> | |
| <mesh name="base_col11" file="base_col11.obj" /> | |
| <mesh name="base_col12" file="base_col12.obj" /> | |
| <mesh name="base_col13" file="base_col13.obj" /> | |
| <mesh name="base_col14" file="base_col14.obj" /> | |
| <mesh name="base_col15" file="base_col15.obj" /> | |
| <mesh name="base_col16" file="base_col16.obj" /> | |
| <mesh name="base_col17" file="base_col17.obj" /> | |
| <mesh name="top_arm_vis0" file="top_arm_vis0.obj" inertia="shell" /> | |
| <mesh name="top_arm_vis1" file="top_arm_vis1.obj" inertia="shell" /> | |
| <mesh name="top_arm_col0" file="top_arm_col0.obj" /> | |
| <mesh name="top_arm_col1" file="top_arm_col1.obj" /> | |
| <mesh name="top_arm_col2" file="top_arm_col2.obj" /> | |
| <mesh name="top_arm_col3" file="top_arm_col3.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="base" pos="0 0.00499446 1.30385e-11" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="base_vis0" rgba="0.78 0.79 0.81 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="base_vis1" rgba="0.6 0.61 0.63 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="base_vis2" rgba="0.86 0.87 0.89 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="0.0920454" /> | |
| <geom type="mesh" mesh="base_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00408027" /> | |
| <geom type="mesh" mesh="base_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00408027" /> | |
| <geom type="mesh" mesh="base_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.000304441" /> | |
| <geom type="mesh" mesh="base_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000157778" /> | |
| <geom type="mesh" mesh="base_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000201802" /> | |
| <geom type="mesh" mesh="base_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.00021503" /> | |
| <geom type="mesh" mesh="base_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.00115593" /> | |
| <geom type="mesh" mesh="base_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.00108684" /> | |
| <geom type="mesh" mesh="base_col9" rgba="0.5 0.5 0.5 0" group="3" mass="0.000391449" /> | |
| <geom type="mesh" mesh="base_col10" rgba="0.5 0.5 0.5 0" group="3" mass="0.000782887" /> | |
| <geom type="mesh" mesh="base_col11" rgba="0.5 0.5 0.5 0" group="3" mass="0.000135927" /> | |
| <geom type="mesh" mesh="base_col12" rgba="0.5 0.5 0.5 0" group="3" mass="0.000329951" /> | |
| <geom type="mesh" mesh="base_col13" rgba="0.5 0.5 0.5 0" group="3" mass="0.0010615" /> | |
| <geom type="mesh" mesh="base_col14" rgba="0.5 0.5 0.5 0" group="3" mass="0.000511208" /> | |
| <geom type="mesh" mesh="base_col15" rgba="0.5 0.5 0.5 0" group="3" mass="0.00433889" /> | |
| <geom type="mesh" mesh="base_col16" rgba="0.5 0.5 0.5 0" group="3" mass="0.00072021" /> | |
| <geom type="mesh" mesh="base_col17" rgba="0.5 0.5 0.5 0" group="3" mass="0.00072021" /> | |
| <body name="top_arm" pos="-0.058 -9.62965e-35 0.022" quat="1 0 0 0"> | |
| <joint name="arm" type="hinge" axis="0 1 0" pos="0 0 0" damping="0.02" frictionloss="0.08746" armature="0.001" limited="true" range="-0.485645 0.0379534" /> | |
| <geom type="mesh" mesh="top_arm_vis0" rgba="0.045 0.045 0.05 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="top_arm_vis1" rgba="0.13 0.13 0.14 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="top_arm_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0765168" /> | |
| <geom type="mesh" mesh="top_arm_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0250599" /> | |
| <geom type="mesh" mesh="top_arm_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00609324" /> | |
| <geom type="mesh" mesh="top_arm_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.00309007" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |