Datasets:

SomaStacksOrg
/

roboverse_data_wuji

License:

Dataset card Files Files and versions

roboverse_data_wuji / assets /ycb /fork /fork.xml

Everloom's picture

Duplicate from SomaStacksOrg/roboverse_data

3b9b129 about 1 month ago

1.89 kB

	<?xml version="1.0" encoding="utf-8"?>
	<!--
	YCB 030_fork fork — single-rigid-body prop for hand_track / manipulation.
	Built from the YCB google_16k textured scan by scripts/build_ycb_assets.py:
	textured.obj -> trimesh recenter (xy centered on AABB, base at z=0) -> visual mesh
	+ CoACD convex-decomposed collision (3 parts, threshold=0.04) so the
	concave shape is collision-true (cavity preserved / tool silhouette kept).
	Density 994.0 kg/m^3 over the summed part volume 3.4e-05 m^3 -> mass 0.034 kg.
	Recentered AABB (m): size=[0.1976, 0.0271, 0.0159].
	License: YCB CC BY 4.0.
	-->
	<mujoco model="ycb_fork">
	<compiler meshdir="." angle="radian" />
	<asset>
	<texture name="fork_tex" type="2d" file="texture_map.png" />
	<material name="fork_mat" texture="fork_tex" texrepeat="1 1" texuniform="false" reflectance="0.2" />
	<mesh name="fork_mesh" file="visual/fork_vis.obj" />
	<mesh name="fork_col0" file="collision/fork_col0.obj" />
	<mesh name="fork_col1" file="collision/fork_col1.obj" />
	<mesh name="fork_col2" file="collision/fork_col2.obj" />
	</asset>
	<worldbody>
	<body name="ycb_fork" pos="0 0 0">
	<geom name="fork_visual" type="mesh" mesh="fork_mesh" material="fork_mat"
	group="2" contype="0" conaffinity="0" density="0" />
	<geom name="fork_collision0" type="mesh" mesh="fork_col0"
	density="994.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
	group="3" rgba="0 1 0 0" />
	<geom name="fork_collision1" type="mesh" mesh="fork_col1"
	density="994.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
	group="3" rgba="0 1 0 0" />
	<geom name="fork_collision2" type="mesh" mesh="fork_col2"
	density="994.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
	group="3" rgba="0 1 0 0" />
	</body>
	</worldbody>
	</mujoco>