ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="parcel_box"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="carton_body_vis0" file="carton_body_vis0.obj" inertia="shell" /> | |
| <mesh name="carton_body_col0" file="carton_body_col0.obj" /> | |
| <mesh name="carton_body_col1" file="carton_body_col1.obj" /> | |
| <mesh name="carton_body_col2" file="carton_body_col2.obj" /> | |
| <mesh name="carton_body_col3" file="carton_body_col3.obj" /> | |
| <mesh name="carton_body_col4" file="carton_body_col4.obj" /> | |
| <mesh name="flap_front_vis0" file="flap_front_vis0.obj" inertia="shell" /> | |
| <mesh name="flap_front_vis1" file="flap_front_vis1.obj" inertia="shell" /> | |
| <mesh name="flap_front_col0" file="flap_front_col0.obj" /> | |
| <mesh name="flap_back_vis0" file="flap_back_vis0.obj" inertia="shell" /> | |
| <mesh name="flap_back_vis1" file="flap_back_vis1.obj" inertia="shell" /> | |
| <mesh name="flap_back_col0" file="flap_back_col0.obj" /> | |
| <mesh name="flap_left_vis0" file="flap_left_vis0.obj" inertia="shell" /> | |
| <mesh name="flap_left_col0" file="flap_left_col0.obj" /> | |
| <mesh name="flap_right_vis0" file="flap_right_vis0.obj" inertia="shell" /> | |
| <mesh name="flap_right_col0" file="flap_right_col0.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="carton_body" pos="0 0 1.04308e-11" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="carton_body_vis0" rgba="0.72 0.56 0.38 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="carton_body_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0141926" /> | |
| <geom type="mesh" mesh="carton_body_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00716083" /> | |
| <geom type="mesh" mesh="carton_body_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00716083" /> | |
| <geom type="mesh" mesh="carton_body_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.00510806" /> | |
| <geom type="mesh" mesh="carton_body_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.00510806" /> | |
| <body name="flap_front" pos="0 -0.088 0.0936" quat="1 0 0 0"> | |
| <joint name="flap_front" type="hinge" axis="1 0 0" pos="0 0 0" damping="0.02" frictionloss="0.02" armature="0.001" limited="true" range="0 3.14159" /> | |
| <geom type="mesh" mesh="flap_front_vis0" rgba="0.72 0.56 0.38 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_front_vis1" rgba="0.86 0.74 0.53 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_front_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00697746" /> | |
| </body> | |
| <body name="flap_back" pos="0 0.088 0.0936" quat="1 0 0 0"> | |
| <joint name="flap_back" type="hinge" axis="-1 1.22465e-16 0" pos="0 0 0" damping="0.02" frictionloss="0.02" armature="0.001" limited="true" range="0 3.14159" /> | |
| <geom type="mesh" mesh="flap_back_vis0" rgba="0.72 0.56 0.38 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_back_vis1" rgba="0.86 0.74 0.53 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_back_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00697746" /> | |
| </body> | |
| <body name="flap_left" pos="-0.12 -9.49854e-34 0.0912" quat="1 0 0 0"> | |
| <joint name="flap_left" type="hinge" axis="0 -1 0" pos="0 0 0" damping="0.02" frictionloss="0.02" armature="0.001" limited="true" range="0 3.14159" /> | |
| <geom type="mesh" mesh="flap_left_vis0" rgba="0.72 0.56 0.38 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_left_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00696455" /> | |
| </body> | |
| <body name="flap_right" pos="0.12 9.49854e-34 0.0912" quat="1 0 0 0"> | |
| <joint name="flap_right" type="hinge" axis="0 1 0" pos="0 0 0" damping="0.02" frictionloss="0.02" armature="0.001" limited="true" range="0 3.14159" /> | |
| <geom type="mesh" mesh="flap_right_vis0" rgba="0.72 0.56 0.38 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_right_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.00696455" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |