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ENV_ASSETS / tabletop /object /object_table.xml

Jeongeun

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	<mujocoinclude>

	<asset>
	<texture type="cube" name="stone" file="../mesh/light-gray-plaster.png" />
	<material name="ceramic_table_mat" texture="stone" specular="0.5" shininess="0.5"
	/>
	<texture type="2d" name="wooden" file="../mesh/martin_novak_wood_table.png" />
	<material name="wood_table_mat" texture="wooden" specular="0.5" shininess="0.5" rgba="0.79 0.75 0.7 1"/>
	<mesh name="faucet" file="../mesh/faucet.stl" scale="0.7 0.5 0.7"/>
	<mesh name="faucet_base" file="../mesh/countertop.stl" scale="0.7 0.5 0.7"/>
	</asset>

	<worldbody>
	<body name="front_object_table" pos="0 0 0" euler="0 0 0">
	<geom name="front_object_table" size="0.8 0.3 0.38" pos="0.7 0.2 0.38" type="box"
	material="ceramic_table_mat"/>
	<geom name="front_object_top" size="0.8 0.3 0.02" pos="0.7 0.2 0.78" type="box"
	material="wood_table_mat"/>

	<geom size="0.15 0.2 0.38" pos="0.05 -0.3 0.38" type="box"
	material="ceramic_table_mat" />
	<geom size="0.15 0.2 0.02" pos="0.05 -0.3 0.78" type="box"
	material="wood_table_mat" />

	<!-- <geom size="0.2 0.2 0.38" pos="0.4 -0.3 0.38" type="box" rgba="0 0 0 1" /> -->
	<geom size="0.2 0.2 0.02" pos="0.4 -0.3 0.779" type="box" rgba="0 0 0 1"/>

	<geom size="0.16 0.2 0.38" pos="1.34 -0.3 0.38" type="box" material="ceramic_table_mat"/>
	<geom size="0.16 0.2 0.02" pos="1.34 -0.3 0.78" type="box" material="wood_table_mat"/>

	<geom size="0.8 0.05 0.38" pos="0.7 -0.55 0.38" type="box" material="ceramic_table_mat"/>
	<geom size="0.8 0.05 0.02" pos="0.7 -0.55 0.78" type="box" material="wood_table_mat"/>

	<inertial pos="0 0 0" mass="1" diaginertia="0 0 0" />

	<body name="camera" pos="0.9 0.0 1.4">
	<camera name="agentview" pos="0 0 0" xyaxes="0 1 0 -0.5 0 0.707" fovy="60" />
	</body>

	<body name="camera2" pos="0.5 0.0 1.8">
	<camera name="topview" pos="0 0 0" xyaxes="0 -1 0 1 0 0" fovy="60" />
	</body>

	<body name="camera3" pos="0.3 0.0 1.3">
	<camera name="sideview" pos="0 0 0" xyaxes="0 -1.0 0 1.0 0.0 0.9" fovy="60" />
	</body>
	<!-- <geom mesh="faucet" pos="0.9 -0.3 0.8" type="mesh" euler="0 0 1.57"/>
	<geom pos="0.9 0.085 1.83" size="0.035 0.05" type="cylinder"/>
	<geom pos="0.9 0.085 1.92" size="0.025 0.08" type="capsule"/>
	<geom euler="1.57 0 0" pos="0.9 0.2 2" size="0.025 0.11" type="capsule"/>
	<geom pos="0.9 0.317 1.8" size="0.025 0.2" type="capsule"/>
	<geom pos="0.9 0.317 1.67" size="0.032 0.07" type="cylinder"/>
	<geom pos="0.947 0.318 1.68" euler="0 1.57 0" size="0.029 0.03" type="cylinder"/>
	<geom pos="0.99 0.318 1.68" euler="0 1.57 0" size="0.035 0.013 " type="cylinder"/>
	<geom euler="1.57 0 0" pos="0.99 0.26 1.68" size="0.01 0.03" type="capsule"/> -->
	<!-- <geom euler="0 1.57 0" pos="0.909 -0.695 1.39" size="0.022 0.28" type="cylinder"/>
	<geom euler="1.57 0 0" pos="0.71 -0.665 1.39" size="0.018 0.03" type="cylinder"/>
	<geom euler="1.57 0 0" pos="1.108 -0.665 1.39" size="0.018 0.03" type="cylinder"/>
	<geom euler="0 1.57 0" pos="0.909 -0.695 1.14" size="0.022 0.28" type="cylinder"/>
	<geom euler="1.57 0 0" pos="0.71 -0.665 1.14" size="0.018 0.03" type="cylinder"/>
	<geom euler="1.57 0 0" pos="1.108 -0.665 1.14" size="0.018 0.03" type="cylinder"/> -->
	</body>

	<!-- <body name="side_object_table" pos="0 0 0" euler="0 0 0">
	<geom name="side_object_table" size="0.5 0.3 0.4" pos="0 -0.8 0.4" type="box"
	material="wood_table_mat" />
	<inertial pos="0 0 0" mass="1" diaginertia="0 0 0" />
	</body> -->
	</worldbody>

	<include file="obj_faucet.xml"/>
	</mujocoinclude>