Update assets/libero/COMMON/stable_hope_objects/alphabet_soup/mjcf/alphabet_soup.xml
Browse files
assets/libero/COMMON/stable_hope_objects/alphabet_soup/mjcf/alphabet_soup.xml
CHANGED
|
@@ -1,15 +1,39 @@
|
|
| 1 |
<mujoco model="textured">
|
| 2 |
<asset>
|
| 3 |
-
|
| 4 |
-
|
| 5 |
-
|
|
|
|
|
|
|
| 6 |
<worldbody>
|
|
|
|
|
|
|
| 7 |
|
| 8 |
-
<
|
| 9 |
-
<geom
|
| 10 |
-
<
|
| 11 |
-
<
|
| 12 |
-
<
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 13 |
|
|
|
|
|
|
|
|
|
|
| 14 |
</worldbody>
|
| 15 |
</mujoco>
|
|
|
|
| 1 |
<mujoco model="textured">
|
| 2 |
<asset>
|
| 3 |
+
<texture file="texture_map.png" name="tex-textured" type="2d"/>
|
| 4 |
+
<material name="textured" reflectance="0.5" texrepeat="1 1" texture="tex-textured" texuniform="false"/>
|
| 5 |
+
<mesh file="visual/textured_vis.msh" name="textured_vis" scale="0.01 0.01 0.01"/>
|
| 6 |
+
</asset>
|
| 7 |
+
|
| 8 |
<worldbody>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<geom type="mesh" mesh="textured_vis" group="1" material="textured" conaffinity="0" contype="0"/>
|
| 11 |
|
| 12 |
+
<geom type="box" pos="0.00000 -0.00104 -0.00235" quat="0.50000 -0.50000 0.50000 0.50000" size="0.01874 0.02352 0.03625" rgba="0 0 0 0"/>
|
| 13 |
+
<geom type="box" pos="0.02599 -0.00000 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01471 0.03760" rgba="0 0 0 0"/>
|
| 14 |
+
<geom type="box" pos="-0.02470 -0.00060 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01662 0.03760" rgba="0 0 0 0"/>
|
| 15 |
+
<geom type="box" pos="-0.00012 -0.00060 -0.02413" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" rgba="0 0 0 0"/>
|
| 16 |
+
<geom type="box" pos="-0.00012 -0.00060 0.01776" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" rgba="0 0 0 0"/>
|
| 17 |
+
<geom type="box" pos="-0.00012 -0.00060 -0.03260" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 18 |
+
<geom type="box" pos="-0.00012 -0.00060 0.02575" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 19 |
+
<geom type="box" pos="-0.02944 -0.00060 -0.00291" quat="0.00030 0.00030 -0.70711 0.70711" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 20 |
+
<geom type="box" pos="0.02931 -0.00060 -0.00291" quat="0.70711 0.70711 0.00030 -0.00030" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 21 |
+
<geom type="box" pos="0.02689 -0.00060 0.00853" quat="0.69661 0.69661 -0.12141 0.12141" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 22 |
+
<geom type="box" pos="-0.02654 -0.00060 -0.01619" quat="0.16993 -0.16993 0.68638 0.68638" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 23 |
+
<geom type="box" pos="-0.01763 -0.00060 -0.02495" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 24 |
+
<geom type="box" pos="-0.00964 -0.00060 -0.03099" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 25 |
+
<geom type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 26 |
+
<geom type="box" pos="0.01240 -0.00060 -0.02961" quat="0.36902 0.36902 -0.60318 0.60318" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 27 |
+
<geom type="box" pos="0.02167 -0.00060 -0.02144" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 28 |
+
<geom type="box" pos="0.02696 -0.00099 -0.01169" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 29 |
+
<geom type="box" pos="-0.02700 -0.00060 0.00886" quat="0.13049 0.13049 -0.69496 0.69496" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 30 |
+
<geom type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 31 |
+
<geom type="box" pos="0.02026 -0.00060 0.01494" quat="0.20946 -0.20946 0.67537 0.67537" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 32 |
+
<geom type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
|
| 33 |
+
</body>
|
| 34 |
|
| 35 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.04" name="bottom_site"/>
|
| 36 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site"/>
|
| 37 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site"/>
|
| 38 |
</worldbody>
|
| 39 |
</mujoco>
|