ENV_ASSETS / objects /tray_5 /model_new.xml
Jeongeun's picture
Upload folder using huggingface_hub
3542aa9 verified
<mujoco model="tray_2">
<asset>
<mesh file="visual/model_normalized_0.obj" name="tray_5_normalized_0_vis" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_22.obj" name="tray_5_normalized_collision_22._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_23.obj" name="tray_5_normalized_collision_23._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_21.obj" name="tray_5_normalized_collision_21._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_20.obj" name="tray_5_normalized_collision_20._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_24.obj" name="tray_5_normalized_collision_24._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_30.obj" name="tray_5_normalized_collision_30._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_18.obj" name="tray_5_normalized_collision_18._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_19.obj" name="tray_5_normalized_collision_19._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_31.obj" name="tray_5_normalized_collision_31._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_25.obj" name="tray_5_normalized_collision_25._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_27.obj" name="tray_5_normalized_collision_27._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_26.obj" name="tray_5_normalized_collision_26._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_9.obj" name="tray_5_normalized_collision_9._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_8.obj" name="tray_5_normalized_collision_8._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_6.obj" name="tray_5_normalized_collision_6._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_7.obj" name="tray_5_normalized_collision_7._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_5.obj" name="tray_5_normalized_collision_5._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_4.obj" name="tray_5_normalized_collision_4._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_0.obj" name="tray_5_normalized_collision_0._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_1.obj" name="tray_5_normalized_collision_1._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_3.obj" name="tray_5_normalized_collision_3._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_2.obj" name="tray_5_normalized_collision_2._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_17.obj" name="tray_5_normalized_collision_17._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_16.obj" name="tray_5_normalized_collision_16._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_28.obj" name="tray_5_normalized_collision_28._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_14.obj" name="tray_5_normalized_collision_14._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_15.obj" name="tray_5_normalized_collision_15._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_29.obj" name="tray_5_normalized_collision_29._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_11.obj" name="tray_5_normalized_collision_11._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_10.obj" name="tray_5_normalized_collision_10._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_12.obj" name="tray_5_normalized_collision_12._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<mesh file="collision/model_normalized_collision_13.obj" name="tray_5_normalized_collision_13._coll" scale="0.4 0.3 0.3" refquat="0.7071067811865475 0.0 0.0 0.7071067811865475" />
<texture type="2d" name="tray_50" file="visual/image0.png" />
<material name="WoodenTray_tray_5" texture="tray_50" specular="0.5" shininess="0.506516455" />
</asset>
<worldbody>
<body name="body_obj_tray_5">
<!-- <freejoint/><body name="object_tray_5"> -->
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_0_vis" conaffinity="0" contype="0" group="2" material="WoodenTray_tray_5" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_22._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_23._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_21._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_20._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_24._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_30._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_18._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_19._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_31._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_25._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_27._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_26._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_9._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_8._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_6._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_7._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_5._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_4._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_0._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_1._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_3._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_2._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_17._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_16._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_28._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_14._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_15._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_29._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_11._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_10._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_12._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<geom solimp="0.998 0.998 0.001" solref="0.001 1" mass="50" friction="1.5 0.3 0.1" type="mesh" mesh="tray_5_normalized_collision_13._coll" group="3" rgba="0.8 0.8 0.8 0.0" />
<!-- </body> -->
<site rgba="0 0 0 0" size="0.005" pos="-9.999999994736446e-10 0.0 -0.010112268000000002" name="bottom_site_tray_5" />
<site rgba="0 0 0 0" size="0.1 0.17 0.1" pos="-9.999999994736446e-10 0.0 0.009421904000000004" name="top_site_tray_5" />
<site rgba="0 0 0 0" size="0.005" pos="0.06666667200000002 0.10000000000000003 -0.00034518200000000025" name="horizontal_radius_site_tray_5" />
</body>
</worldbody>
</mujoco>