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| <material name="dining_set_utensils" reflectance="0.5" shininess="1.0" specular="0.4" texrepeat="1 1" texture="tex-dining_set_utensils" texuniform="false" /> |
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| <texture file="white_linen_texture.png" name="tex-dining_set_cloth" type="2d" /> |
| <material name="dining_set_cloth" reflectance="0.0" texrepeat="1 1" texture="tex-dining_set_cloth" texuniform="false" /> |
| </asset> |
| <worldbody> |
| <body> |
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| <site type="box" pos="0 0 -0.0375" quat="1 0 0 0" size="0.05 0.05 0.0005" material="dining_set_cloth" name="center_region"/> |
| <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.08680 0.01138 0.00730" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00644 0.00735 0.06091" group="0" rgba="0.8 0.8 0.8 0.3"/> |
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| <geom solimp="0.001 0.001 0.001" solref="0.001 1" density="100" friction="0.001 0.001 0.001" type="box" pos="0 0 -0.02" quat="1 0 0 0" size="0.14 0.08 0.0005" group="0" material="dining_set_cloth"/> |
| </body> |
| <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" /> |
| <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" /> |
| <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" /> |
| </body> |
| </worldbody> |
| </mujoco> |
|
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