ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="safe"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="body_vis0" file="body_vis0.obj" inertia="shell" /> | |
| <mesh name="body_vis1" file="body_vis1.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="body_col6" file="body_col6.obj" /> | |
| <mesh name="body_col7" file="body_col7.obj" /> | |
| <mesh name="body_col8" file="body_col8.obj" /> | |
| <mesh name="door_vis0" file="door_vis0.obj" inertia="shell" /> | |
| <mesh name="door_vis1" file="door_vis1.obj" inertia="shell" /> | |
| <mesh name="door_vis2" file="door_vis2.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="handle_vis0" file="handle_vis0.obj" inertia="shell" /> | |
| <mesh name="handle_col0" file="handle_col0.obj" /> | |
| <mesh name="handle_col1" file="handle_col1.obj" /> | |
| <mesh name="handle_col2" file="handle_col2.obj" /> | |
| <mesh name="key_1_vis0" file="key_1_vis0.obj" inertia="shell" /> | |
| <mesh name="key_1_col0" file="key_1_col0.obj" /> | |
| <mesh name="key_2_vis0" file="key_2_vis0.obj" inertia="shell" /> | |
| <mesh name="key_2_col0" file="key_2_col0.obj" /> | |
| <mesh name="key_3_vis0" file="key_3_vis0.obj" inertia="shell" /> | |
| <mesh name="key_3_col0" file="key_3_col0.obj" /> | |
| <mesh name="key_4_vis0" file="key_4_vis0.obj" inertia="shell" /> | |
| <mesh name="key_4_col0" file="key_4_col0.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="body" pos="0.0231 0.002275 1.82539e-11" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="body_vis0" rgba="0.235 0.245 0.258 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="body_vis1" rgba="0.045 0.045 0.05 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="0.224795" /> | |
| <geom type="mesh" mesh="body_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.193013" /> | |
| <geom type="mesh" mesh="body_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.193013" /> | |
| <geom type="mesh" mesh="body_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.234929" /> | |
| <geom type="mesh" mesh="body_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.234929" /> | |
| <geom type="mesh" mesh="body_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.00285917" /> | |
| <geom type="mesh" mesh="body_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.00285917" /> | |
| <geom type="mesh" mesh="body_col7" rgba="0.5 0.5 0.5 0" group="3" mass="0.00285917" /> | |
| <geom type="mesh" mesh="body_col8" rgba="0.5 0.5 0.5 0" group="3" mass="0.00285917" /> | |
| <body name="door" pos="0.1015 -0.0896 0.0875" quat="1 0 0 0"> | |
| <joint name="door" type="hinge" axis="0 0 1" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="0 1.8326" /> | |
| <geom type="mesh" mesh="door_vis0" rgba="0.235 0.245 0.258 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="door_vis1" rgba="0.105 0.112 0.122 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="door_vis2" rgba="0.66 0.67 0.69 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="0.33827" /> | |
| <geom type="mesh" mesh="door_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0051399" /> | |
| <geom type="mesh" mesh="door_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00242959" /> | |
| <body name="handle" pos="-0.1365 -0.0154 -0.0189" quat="1 0 0 0"> | |
| <joint name="handle" type="hinge" axis="0 1 0" pos="0 0 0" damping="0.05" frictionloss="0.02" armature="0.001" limited="true" range="-12.5664 12.5664" /> | |
| <geom type="mesh" mesh="handle_vis0" rgba="0.66 0.67 0.69 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="handle_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0131071" /> | |
| <geom type="mesh" mesh="handle_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.00777425" /> | |
| <geom type="mesh" mesh="handle_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00655356" /> | |
| </body> | |
| <body name="key_1" pos="-0.0847 -0.02345 0.0567" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="key_1_vis0" rgba="0.62 0.63 0.64 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="key_1_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" /> | |
| </body> | |
| <body name="key_2" pos="-0.0693 -0.02345 0.0567" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="key_2_vis0" rgba="0.62 0.63 0.64 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="key_2_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" /> | |
| </body> | |
| <body name="key_3" pos="-0.0847 -0.02345 0.0413" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="key_3_vis0" rgba="0.62 0.63 0.64 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="key_3_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" /> | |
| </body> | |
| <body name="key_4" pos="-0.0693 -0.02345 0.0413" quat="1 0 0 0"> | |
| <geom type="mesh" mesh="key_4_vis0" rgba="0.62 0.63 0.64 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="key_4_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.002" /> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |