ENVORA-Assets: 168 library assets (127 rigid, 41 articulated), Object Kit, render environments
d785e3c verified | <mujoco model="swing_bin"> | |
| <compiler angle="radian" meshdir="meshes" /> | |
| <asset> | |
| <mesh name="bin_body_vis0" file="bin_body_vis0.obj" inertia="shell" /> | |
| <mesh name="bin_body_vis1" file="bin_body_vis1.obj" inertia="shell" /> | |
| <mesh name="bin_body_col0" file="bin_body_col0.obj" /> | |
| <mesh name="bin_body_col1" file="bin_body_col1.obj" /> | |
| <mesh name="bin_body_col2" file="bin_body_col2.obj" /> | |
| <mesh name="bin_body_col3" file="bin_body_col3.obj" /> | |
| <mesh name="bin_body_col4" file="bin_body_col4.obj" /> | |
| <mesh name="bin_body_col5" file="bin_body_col5.obj" /> | |
| <mesh name="bin_body_col6" file="bin_body_col6.obj" /> | |
| <mesh name="flap_vis0" file="flap_vis0.obj" inertia="shell" /> | |
| <mesh name="flap_col0" file="flap_col0.obj" /> | |
| <mesh name="flap_col1" file="flap_col1.obj" /> | |
| <mesh name="flap_col2" file="flap_col2.obj" /> | |
| <mesh name="flap_col3" file="flap_col3.obj" /> | |
| <mesh name="flap_col4" file="flap_col4.obj" /> | |
| <mesh name="flap_col5" file="flap_col5.obj" /> | |
| <mesh name="flap_col6" file="flap_col6.obj" /> | |
| </asset> | |
| <worldbody> | |
| <body name="bin_body" pos="0 0 0" quat="0.707107 0 0 -0.707107"> | |
| <geom type="mesh" mesh="bin_body_vis0" rgba="0.925 0.925 0.91 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="bin_body_vis1" rgba="0.63 0.64 0.66 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="bin_body_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0144829" /> | |
| <geom type="mesh" mesh="bin_body_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.0471809" /> | |
| <geom type="mesh" mesh="bin_body_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.00509049" /> | |
| <geom type="mesh" mesh="bin_body_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.0535441" /> | |
| <geom type="mesh" mesh="bin_body_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.0170841" /> | |
| <geom type="mesh" mesh="bin_body_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.0822393" /> | |
| <geom type="mesh" mesh="bin_body_col6" rgba="0.5 0.5 0.5 0" group="3" mass="8.7405e-05" /> | |
| <body name="flap" pos="0 0.0212 0.2308" quat="1 0 0 0"> | |
| <joint name="flap" type="hinge" axis="1 0 0" pos="0 0 0" damping="0.005" frictionloss="0.02" armature="0.001" limited="true" range="-0.785398 0.785398" /> | |
| <geom type="mesh" mesh="flap_vis0" rgba="0.5 0.515 0.525 1" contype="0" conaffinity="0" group="2" mass="0" /> | |
| <geom type="mesh" mesh="flap_col0" rgba="0.5 0.5 0.5 0" group="3" mass="0.0171824" /> | |
| <geom type="mesh" mesh="flap_col1" rgba="0.5 0.5 0.5 0" group="3" mass="0.000106786" /> | |
| <geom type="mesh" mesh="flap_col2" rgba="0.5 0.5 0.5 0" group="3" mass="0.000106786" /> | |
| <geom type="mesh" mesh="flap_col3" rgba="0.5 0.5 0.5 0" group="3" mass="0.000388506" /> | |
| <geom type="mesh" mesh="flap_col4" rgba="0.5 0.5 0.5 0" group="3" mass="0.000388647" /> | |
| <geom type="mesh" mesh="flap_col5" rgba="0.5 0.5 0.5 0" group="3" mass="0.000387529" /> | |
| <geom type="mesh" mesh="flap_col6" rgba="0.5 0.5 0.5 0" group="3" mass="0.000389267" /> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> |