Hugging Face's logo

Datasets:
SomaStacksOrg
/
roboverse_data_wuji

License:
Dataset card Files
xet
 Community
42

fix(assets): hand_track prop physics — mass refit on 4 props + tennis-ball restitution

#39
by Everloom - opened
base: refs/heads/main
←
from: refs/pr/39
Discussion Files changed
+137
-115
Files changed (5) hide show
  1. assets/box_task/feast_scented_candle/feast_scented_candle.xml +17 -11
  2. assets/local_meshy_cup_bottle/meshycup/mjcf/meshycup.xml +26 -21
  3. assets/ycb/cups_a/cups_a.xml +39 -37
  4. assets/ycb/cups_f/cups_f.xml +46 -44
  5. assets/ycb/tennis_ball/tennis_ball.xml +9 -2
assets/box_task/feast_scented_candle/feast_scented_candle.xml CHANGED
@@ -4,8 +4,14 @@
4
 
5
  Aligned with Parrot/parrot/assets/openarm_wuji_pack_box.xml so that
6
  action-replay through RoboVerse reproduces the recorded contact dynamics:
7
- - cylinder collision size 0.032 x 0.05 (radius x half-height), density 120
8
- - 8 rim capsules near the top (z=+0.045), radius 0.003, density 120
 
 
 
 
 
 
9
  - inline friction "3.0 0.15 0.01" + solref "0.01 1" + priority 2 on every
10
  collision geom
11
  -->
@@ -26,42 +32,42 @@
26
  material="feast_scented_candle_mat" group="2"
27
  contype="0" conaffinity="0" density="0" />
28
  <geom name="feast_scented_candle_collision" type="cylinder"
29
- size="0.032 0.05" density="120"
30
  friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
31
  group="3" rgba="0 1 0 0" />
32
  <!-- Top rim ring: 8 capsule segments at z = +half_h - 5mm = +0.045.
33
  Centerline radius 0.032; capsule radius 3mm. -->
34
  <geom name="feast_scented_candle_rim_0" type="capsule"
35
  fromto="0.032 0 0.045 0.02263 0.02263 0.045" size="0.003"
36
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
37
  group="3" rgba="0 1 0 0" />
38
  <geom name="feast_scented_candle_rim_1" type="capsule"
39
  fromto="0.02263 0.02263 0.045 0 0.032 0.045" size="0.003"
40
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
41
  group="3" rgba="0 1 0 0" />
42
  <geom name="feast_scented_candle_rim_2" type="capsule"
43
  fromto="0 0.032 0.045 -0.02263 0.02263 0.045" size="0.003"
44
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
45
  group="3" rgba="0 1 0 0" />
46
  <geom name="feast_scented_candle_rim_3" type="capsule"
47
  fromto="-0.02263 0.02263 0.045 -0.032 0 0.045" size="0.003"
48
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
49
  group="3" rgba="0 1 0 0" />
50
  <geom name="feast_scented_candle_rim_4" type="capsule"
51
  fromto="-0.032 0 0.045 -0.02263 -0.02263 0.045" size="0.003"
52
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
53
  group="3" rgba="0 1 0 0" />
54
  <geom name="feast_scented_candle_rim_5" type="capsule"
55
  fromto="-0.02263 -0.02263 0.045 0 -0.032 0.045" size="0.003"
56
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
57
  group="3" rgba="0 1 0 0" />
58
  <geom name="feast_scented_candle_rim_6" type="capsule"
59
  fromto="0 -0.032 0.045 0.02263 -0.02263 0.045" size="0.003"
60
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
61
  group="3" rgba="0 1 0 0" />
62
  <geom name="feast_scented_candle_rim_7" type="capsule"
63
  fromto="0.02263 -0.02263 0.045 0.032 0 0.045" size="0.003"
64
- density="120" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
65
  group="3" rgba="0 1 0 0" />
66
  </body>
67
  </worldbody>
 
4
 
5
  Aligned with Parrot/parrot/assets/openarm_wuji_pack_box.xml so that
6
  action-replay through RoboVerse reproduces the recorded contact dynamics:
7
+ - cylinder collision size 0.032 x 0.05 (radius x half-height), density 1219
8
+
9
+ 2026-08-13 mass fix: density 120 compiled to 0.039 kg, i.e. a scented candle in a glass jar
10
+ weighing 39 g. Refit to 1219 kg/m^3 -> 0.40 kg over the 0.328 L collision volume.
11
+ NOTE: 120 was copied from the Parrot scene so action-replay reproduced the recorded contact
12
+ dynamics. This changes those dynamics; pack_box / place_candle_in_box demos recorded before
13
+ this date replay from snapped state, but action->motion differs across the boundary.
14
+ - 8 rim capsules near the top (z=+0.045), radius 0.003, density 1219
15
  - inline friction "3.0 0.15 0.01" + solref "0.01 1" + priority 2 on every
16
  collision geom
17
  -->
 
32
  material="feast_scented_candle_mat" group="2"
33
  contype="0" conaffinity="0" density="0" />
34
  <geom name="feast_scented_candle_collision" type="cylinder"
35
+ size="0.032 0.05" density="1219"
36
  friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
37
  group="3" rgba="0 1 0 0" />
38
  <!-- Top rim ring: 8 capsule segments at z = +half_h - 5mm = +0.045.
39
  Centerline radius 0.032; capsule radius 3mm. -->
40
  <geom name="feast_scented_candle_rim_0" type="capsule"
41
  fromto="0.032 0 0.045 0.02263 0.02263 0.045" size="0.003"
42
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
43
  group="3" rgba="0 1 0 0" />
44
  <geom name="feast_scented_candle_rim_1" type="capsule"
45
  fromto="0.02263 0.02263 0.045 0 0.032 0.045" size="0.003"
46
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
47
  group="3" rgba="0 1 0 0" />
48
  <geom name="feast_scented_candle_rim_2" type="capsule"
49
  fromto="0 0.032 0.045 -0.02263 0.02263 0.045" size="0.003"
50
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
51
  group="3" rgba="0 1 0 0" />
52
  <geom name="feast_scented_candle_rim_3" type="capsule"
53
  fromto="-0.02263 0.02263 0.045 -0.032 0 0.045" size="0.003"
54
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
55
  group="3" rgba="0 1 0 0" />
56
  <geom name="feast_scented_candle_rim_4" type="capsule"
57
  fromto="-0.032 0 0.045 -0.02263 -0.02263 0.045" size="0.003"
58
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
59
  group="3" rgba="0 1 0 0" />
60
  <geom name="feast_scented_candle_rim_5" type="capsule"
61
  fromto="-0.02263 -0.02263 0.045 0 -0.032 0.045" size="0.003"
62
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
63
  group="3" rgba="0 1 0 0" />
64
  <geom name="feast_scented_candle_rim_6" type="capsule"
65
  fromto="0 -0.032 0.045 0.02263 -0.02263 0.045" size="0.003"
66
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
67
  group="3" rgba="0 1 0 0" />
68
  <geom name="feast_scented_candle_rim_7" type="capsule"
69
  fromto="0.02263 -0.02263 0.045 0.032 0 0.045" size="0.003"
70
+ density="1219" friction="3.0 0.15 0.01" solref="0.01 1" priority="2"
71
  group="3" rgba="0 1 0 0" />
72
  </body>
73
  </worldbody>
assets/local_meshy_cup_bottle/meshycup/mjcf/meshycup.xml CHANGED
@@ -1,6 +1,11 @@
1
  <?xml version="1.0" encoding="utf-8"?>
2
  <mujoco model="meshycup">
3
- <!-- Aligned with Parrot feast scene: density-only inertial, prop_collision (2026-05-15). -->
 
 
 
 
 
4
  <default>
5
  <default class="prop_collision">
6
  <geom priority="2" friction="1.5 0.05 0.002" solref="0.01 1" />
@@ -14,26 +19,26 @@
14
  <worldbody>
15
  <body name="meshycup">
16
  <joint type="free" />
17
- <geom name="meshycup_visual" type="mesh" mesh="meshycup_mesh" material="meshycup_mat" group="2" contype="0" conaffinity="0" quat="0.7071067811865476 0.7071067811865475 0 0" />
18
- <geom name="meshycup_collision_bowl_bottom" type="cylinder" pos="0 0 -0.006" size="0.016 0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
19
- <geom name="meshycup_collision_wall_0" type="capsule" fromto="0.016 0 -0.004 0.031 0 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
20
- <geom name="meshycup_collision_wall_1" type="capsule" fromto="0.011314 0.011314 -0.004 0.021920 0.021920 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
21
- <geom name="meshycup_collision_wall_2" type="capsule" fromto="0 0.016 -0.004 0 0.031 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
22
- <geom name="meshycup_collision_wall_3" type="capsule" fromto="-0.011314 0.011314 -0.004 -0.021920 0.021920 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
23
- <geom name="meshycup_collision_wall_4" type="capsule" fromto="-0.016 0 -0.004 -0.031 0 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
24
- <geom name="meshycup_collision_wall_5" type="capsule" fromto="-0.011314 -0.011314 -0.004 -0.021920 -0.021920 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
25
- <geom name="meshycup_collision_wall_6" type="capsule" fromto="0 -0.016 -0.004 0 -0.031 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
26
- <geom name="meshycup_collision_wall_7" type="capsule" fromto="0.011314 -0.011314 -0.004 0.021920 -0.021920 0.092" size="0.0055" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
27
- <geom name="meshycup_collision_rim_0" type="capsule" fromto="0.031 0 0.094 0.021920 0.021920 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
28
- <geom name="meshycup_collision_rim_1" type="capsule" fromto="0.021920 0.021920 0.094 0 0.031 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
29
- <geom name="meshycup_collision_rim_2" type="capsule" fromto="0 0.031 0.094 -0.021920 0.021920 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
30
- <geom name="meshycup_collision_rim_3" type="capsule" fromto="-0.021920 0.021920 0.094 -0.031 0 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
31
- <geom name="meshycup_collision_rim_4" type="capsule" fromto="-0.031 0 0.094 -0.021920 -0.021920 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
32
- <geom name="meshycup_collision_rim_5" type="capsule" fromto="-0.021920 -0.021920 0.094 0 -0.031 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
33
- <geom name="meshycup_collision_rim_6" type="capsule" fromto="0 -0.031 0.094 0.021920 -0.021920 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
34
- <geom name="meshycup_collision_rim_7" type="capsule" fromto="0.021920 -0.021920 0.094 0.031 0 0.094" size="0.004" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
35
- <geom name="meshycup_collision_stem" type="cylinder" pos="0 0 -0.037" size="0.006 0.044" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
36
- <geom name="meshycup_collision_base" type="cylinder" pos="0 0 -0.091" size="0.03 0.008" density="250" group="3" class="prop_collision" rgba="0 0 0 0" />
37
  </body>
38
  </worldbody>
39
  </mujoco>
 
1
  <?xml version="1.0" encoding="utf-8"?>
2
  <mujoco model="meshycup">
3
+ <!-- Aligned with Parrot feast scene: density-only inertial, prop_collision (2026-05-15).
4
+ 2026-08-13 mass fix: meshycup_visual carried NO density="0", so MuJoCo weighed the render
5
+ mesh at its default 1000 kg/m^3: 0.639 kg of the compiled 0.677 kg, i.e. 94% of the mass
6
+ and the inertia came from a geom nothing can touch (its sibling meshybottle_visual was
7
+ already tagged; this one was missed). Tagging it leaves only the shell, so the collision
8
+ density goes 250 -> 1964 to land a 0.30 kg glazed ceramic cup over the 0.153 L shell. -->
9
  <default>
10
  <default class="prop_collision">
11
  <geom priority="2" friction="1.5 0.05 0.002" solref="0.01 1" />
 
19
  <worldbody>
20
  <body name="meshycup">
21
  <joint type="free" />
22
+ <geom name="meshycup_visual" type="mesh" mesh="meshycup_mesh" material="meshycup_mat" density="0" group="2" contype="0" conaffinity="0" quat="0.7071067811865476 0.7071067811865475 0 0" />
23
+ <geom name="meshycup_collision_bowl_bottom" type="cylinder" pos="0 0 -0.006" size="0.016 0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
24
+ <geom name="meshycup_collision_wall_0" type="capsule" fromto="0.016 0 -0.004 0.031 0 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
25
+ <geom name="meshycup_collision_wall_1" type="capsule" fromto="0.011314 0.011314 -0.004 0.021920 0.021920 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
26
+ <geom name="meshycup_collision_wall_2" type="capsule" fromto="0 0.016 -0.004 0 0.031 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
27
+ <geom name="meshycup_collision_wall_3" type="capsule" fromto="-0.011314 0.011314 -0.004 -0.021920 0.021920 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
28
+ <geom name="meshycup_collision_wall_4" type="capsule" fromto="-0.016 0 -0.004 -0.031 0 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
29
+ <geom name="meshycup_collision_wall_5" type="capsule" fromto="-0.011314 -0.011314 -0.004 -0.021920 -0.021920 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
30
+ <geom name="meshycup_collision_wall_6" type="capsule" fromto="0 -0.016 -0.004 0 -0.031 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
31
+ <geom name="meshycup_collision_wall_7" type="capsule" fromto="0.011314 -0.011314 -0.004 0.021920 -0.021920 0.092" size="0.0055" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
32
+ <geom name="meshycup_collision_rim_0" type="capsule" fromto="0.031 0 0.094 0.021920 0.021920 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
33
+ <geom name="meshycup_collision_rim_1" type="capsule" fromto="0.021920 0.021920 0.094 0 0.031 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
34
+ <geom name="meshycup_collision_rim_2" type="capsule" fromto="0 0.031 0.094 -0.021920 0.021920 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
35
+ <geom name="meshycup_collision_rim_3" type="capsule" fromto="-0.021920 0.021920 0.094 -0.031 0 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
36
+ <geom name="meshycup_collision_rim_4" type="capsule" fromto="-0.031 0 0.094 -0.021920 -0.021920 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
37
+ <geom name="meshycup_collision_rim_5" type="capsule" fromto="-0.021920 -0.021920 0.094 0 -0.031 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
38
+ <geom name="meshycup_collision_rim_6" type="capsule" fromto="0 -0.031 0.094 0.021920 -0.021920 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
39
+ <geom name="meshycup_collision_rim_7" type="capsule" fromto="0.021920 -0.021920 0.094 0.031 0 0.094" size="0.004" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
40
+ <geom name="meshycup_collision_stem" type="cylinder" pos="0 0 -0.037" size="0.006 0.044" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
41
+ <geom name="meshycup_collision_base" type="cylinder" pos="0 0 -0.091" size="0.03 0.008" density="1964" group="3" class="prop_collision" rgba="0 0 0 0" />
42
  </body>
43
  </worldbody>
44
  </mujoco>
assets/ycb/cups_a/cups_a.xml CHANGED
@@ -5,7 +5,9 @@
5
  textured.obj -> trimesh recenter (xy centered on AABB, base at z=0) -> visual mesh
6
  + CoACD convex-decomposed collision (36 parts, threshold=0.1) so the
7
  concave shape is collision-true (cavity preserved / tool silhouette kept).
8
- Density 700.0 kg/m^3 over the summed part volume 4.1e-05 m^3 -> mass 0.029 kg.
 
 
9
  Recentered AABB (m): size=[0.0571, 0.0574, 0.0615].
10
  License: YCB CC BY 4.0.
11
  -->
@@ -57,112 +59,112 @@
57
  <geom name="cups_a_visual" type="mesh" mesh="cups_a_mesh" material="cups_a_mat"
58
  group="2" contype="0" conaffinity="0" density="0" />
59
  <geom name="cups_a_collision0" type="mesh" mesh="cups_a_col0"
60
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
61
  group="3" rgba="0 1 0 0" />
62
  <geom name="cups_a_collision1" type="mesh" mesh="cups_a_col1"
63
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
64
  group="3" rgba="0 1 0 0" />
65
  <geom name="cups_a_collision2" type="mesh" mesh="cups_a_col2"
66
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
67
  group="3" rgba="0 1 0 0" />
68
  <geom name="cups_a_collision3" type="mesh" mesh="cups_a_col3"
69
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
70
  group="3" rgba="0 1 0 0" />
71
  <geom name="cups_a_collision4" type="mesh" mesh="cups_a_col4"
72
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
73
  group="3" rgba="0 1 0 0" />
74
  <geom name="cups_a_collision5" type="mesh" mesh="cups_a_col5"
75
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
76
  group="3" rgba="0 1 0 0" />
77
  <geom name="cups_a_collision6" type="mesh" mesh="cups_a_col6"
78
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
79
  group="3" rgba="0 1 0 0" />
80
  <geom name="cups_a_collision7" type="mesh" mesh="cups_a_col7"
81
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
82
  group="3" rgba="0 1 0 0" />
83
  <geom name="cups_a_collision8" type="mesh" mesh="cups_a_col8"
84
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
85
  group="3" rgba="0 1 0 0" />
86
  <geom name="cups_a_collision9" type="mesh" mesh="cups_a_col9"
87
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
88
  group="3" rgba="0 1 0 0" />
89
  <geom name="cups_a_collision10" type="mesh" mesh="cups_a_col10"
90
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
91
  group="3" rgba="0 1 0 0" />
92
  <geom name="cups_a_collision11" type="mesh" mesh="cups_a_col11"
93
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
94
  group="3" rgba="0 1 0 0" />
95
  <geom name="cups_a_collision12" type="mesh" mesh="cups_a_col12"
96
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
97
  group="3" rgba="0 1 0 0" />
98
  <geom name="cups_a_collision13" type="mesh" mesh="cups_a_col13"
99
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
100
  group="3" rgba="0 1 0 0" />
101
  <geom name="cups_a_collision14" type="mesh" mesh="cups_a_col14"
102
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
103
  group="3" rgba="0 1 0 0" />
104
  <geom name="cups_a_collision15" type="mesh" mesh="cups_a_col15"
105
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
106
  group="3" rgba="0 1 0 0" />
107
  <geom name="cups_a_collision16" type="mesh" mesh="cups_a_col16"
108
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
109
  group="3" rgba="0 1 0 0" />
110
  <geom name="cups_a_collision17" type="mesh" mesh="cups_a_col17"
111
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
112
  group="3" rgba="0 1 0 0" />
113
  <geom name="cups_a_collision18" type="mesh" mesh="cups_a_col18"
114
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
115
  group="3" rgba="0 1 0 0" />
116
  <geom name="cups_a_collision19" type="mesh" mesh="cups_a_col19"
117
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
118
  group="3" rgba="0 1 0 0" />
119
  <geom name="cups_a_collision20" type="mesh" mesh="cups_a_col20"
120
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
121
  group="3" rgba="0 1 0 0" />
122
  <geom name="cups_a_collision21" type="mesh" mesh="cups_a_col21"
123
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
124
  group="3" rgba="0 1 0 0" />
125
  <geom name="cups_a_collision22" type="mesh" mesh="cups_a_col22"
126
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
127
  group="3" rgba="0 1 0 0" />
128
  <geom name="cups_a_collision23" type="mesh" mesh="cups_a_col23"
129
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
130
  group="3" rgba="0 1 0 0" />
131
  <geom name="cups_a_collision24" type="mesh" mesh="cups_a_col24"
132
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
133
  group="3" rgba="0 1 0 0" />
134
  <geom name="cups_a_collision25" type="mesh" mesh="cups_a_col25"
135
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
136
  group="3" rgba="0 1 0 0" />
137
  <geom name="cups_a_collision26" type="mesh" mesh="cups_a_col26"
138
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
139
  group="3" rgba="0 1 0 0" />
140
  <geom name="cups_a_collision27" type="mesh" mesh="cups_a_col27"
141
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
142
  group="3" rgba="0 1 0 0" />
143
  <geom name="cups_a_collision28" type="mesh" mesh="cups_a_col28"
144
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
145
  group="3" rgba="0 1 0 0" />
146
  <geom name="cups_a_collision29" type="mesh" mesh="cups_a_col29"
147
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
148
  group="3" rgba="0 1 0 0" />
149
  <geom name="cups_a_collision30" type="mesh" mesh="cups_a_col30"
150
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
151
  group="3" rgba="0 1 0 0" />
152
  <geom name="cups_a_collision31" type="mesh" mesh="cups_a_col31"
153
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
154
  group="3" rgba="0 1 0 0" />
155
  <geom name="cups_a_collision32" type="mesh" mesh="cups_a_col32"
156
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
157
  group="3" rgba="0 1 0 0" />
158
  <geom name="cups_a_collision33" type="mesh" mesh="cups_a_col33"
159
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
160
  group="3" rgba="0 1 0 0" />
161
  <geom name="cups_a_collision34" type="mesh" mesh="cups_a_col34"
162
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
163
  group="3" rgba="0 1 0 0" />
164
  <geom name="cups_a_collision35" type="mesh" mesh="cups_a_col35"
165
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
166
  group="3" rgba="0 1 0 0" />
167
  </body>
168
  </worldbody>
 
5
  textured.obj -> trimesh recenter (xy centered on AABB, base at z=0) -> visual mesh
6
  + CoACD convex-decomposed collision (36 parts, threshold=0.1) so the
7
  concave shape is collision-true (cavity preserved / tool silhouette kept).
8
+ Density 314.0 kg/m^3 over the summed part volume 4.1e-05 m^3 -> mass 0.013 kg.
9
+ 2026-08-13 mass fit: the 700 kg/m^3 fallback (this cup is absent from build_ycb_assets.py's
10
+ REAL_MASS_KG) put it at 2.2x the YCB 065-a stacking cup it scans. Refit to the real mass.
11
  Recentered AABB (m): size=[0.0571, 0.0574, 0.0615].
12
  License: YCB CC BY 4.0.
13
  -->
 
59
  <geom name="cups_a_visual" type="mesh" mesh="cups_a_mesh" material="cups_a_mat"
60
  group="2" contype="0" conaffinity="0" density="0" />
61
  <geom name="cups_a_collision0" type="mesh" mesh="cups_a_col0"
62
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
63
  group="3" rgba="0 1 0 0" />
64
  <geom name="cups_a_collision1" type="mesh" mesh="cups_a_col1"
65
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
66
  group="3" rgba="0 1 0 0" />
67
  <geom name="cups_a_collision2" type="mesh" mesh="cups_a_col2"
68
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
69
  group="3" rgba="0 1 0 0" />
70
  <geom name="cups_a_collision3" type="mesh" mesh="cups_a_col3"
71
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
72
  group="3" rgba="0 1 0 0" />
73
  <geom name="cups_a_collision4" type="mesh" mesh="cups_a_col4"
74
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
75
  group="3" rgba="0 1 0 0" />
76
  <geom name="cups_a_collision5" type="mesh" mesh="cups_a_col5"
77
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
78
  group="3" rgba="0 1 0 0" />
79
  <geom name="cups_a_collision6" type="mesh" mesh="cups_a_col6"
80
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
81
  group="3" rgba="0 1 0 0" />
82
  <geom name="cups_a_collision7" type="mesh" mesh="cups_a_col7"
83
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
84
  group="3" rgba="0 1 0 0" />
85
  <geom name="cups_a_collision8" type="mesh" mesh="cups_a_col8"
86
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
87
  group="3" rgba="0 1 0 0" />
88
  <geom name="cups_a_collision9" type="mesh" mesh="cups_a_col9"
89
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
90
  group="3" rgba="0 1 0 0" />
91
  <geom name="cups_a_collision10" type="mesh" mesh="cups_a_col10"
92
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
93
  group="3" rgba="0 1 0 0" />
94
  <geom name="cups_a_collision11" type="mesh" mesh="cups_a_col11"
95
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
96
  group="3" rgba="0 1 0 0" />
97
  <geom name="cups_a_collision12" type="mesh" mesh="cups_a_col12"
98
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
99
  group="3" rgba="0 1 0 0" />
100
  <geom name="cups_a_collision13" type="mesh" mesh="cups_a_col13"
101
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
102
  group="3" rgba="0 1 0 0" />
103
  <geom name="cups_a_collision14" type="mesh" mesh="cups_a_col14"
104
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
105
  group="3" rgba="0 1 0 0" />
106
  <geom name="cups_a_collision15" type="mesh" mesh="cups_a_col15"
107
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
108
  group="3" rgba="0 1 0 0" />
109
  <geom name="cups_a_collision16" type="mesh" mesh="cups_a_col16"
110
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
111
  group="3" rgba="0 1 0 0" />
112
  <geom name="cups_a_collision17" type="mesh" mesh="cups_a_col17"
113
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
114
  group="3" rgba="0 1 0 0" />
115
  <geom name="cups_a_collision18" type="mesh" mesh="cups_a_col18"
116
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
117
  group="3" rgba="0 1 0 0" />
118
  <geom name="cups_a_collision19" type="mesh" mesh="cups_a_col19"
119
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
120
  group="3" rgba="0 1 0 0" />
121
  <geom name="cups_a_collision20" type="mesh" mesh="cups_a_col20"
122
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
123
  group="3" rgba="0 1 0 0" />
124
  <geom name="cups_a_collision21" type="mesh" mesh="cups_a_col21"
125
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
126
  group="3" rgba="0 1 0 0" />
127
  <geom name="cups_a_collision22" type="mesh" mesh="cups_a_col22"
128
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
129
  group="3" rgba="0 1 0 0" />
130
  <geom name="cups_a_collision23" type="mesh" mesh="cups_a_col23"
131
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
132
  group="3" rgba="0 1 0 0" />
133
  <geom name="cups_a_collision24" type="mesh" mesh="cups_a_col24"
134
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
135
  group="3" rgba="0 1 0 0" />
136
  <geom name="cups_a_collision25" type="mesh" mesh="cups_a_col25"
137
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
138
  group="3" rgba="0 1 0 0" />
139
  <geom name="cups_a_collision26" type="mesh" mesh="cups_a_col26"
140
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
141
  group="3" rgba="0 1 0 0" />
142
  <geom name="cups_a_collision27" type="mesh" mesh="cups_a_col27"
143
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
144
  group="3" rgba="0 1 0 0" />
145
  <geom name="cups_a_collision28" type="mesh" mesh="cups_a_col28"
146
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
147
  group="3" rgba="0 1 0 0" />
148
  <geom name="cups_a_collision29" type="mesh" mesh="cups_a_col29"
149
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
150
  group="3" rgba="0 1 0 0" />
151
  <geom name="cups_a_collision30" type="mesh" mesh="cups_a_col30"
152
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
153
  group="3" rgba="0 1 0 0" />
154
  <geom name="cups_a_collision31" type="mesh" mesh="cups_a_col31"
155
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
156
  group="3" rgba="0 1 0 0" />
157
  <geom name="cups_a_collision32" type="mesh" mesh="cups_a_col32"
158
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
159
  group="3" rgba="0 1 0 0" />
160
  <geom name="cups_a_collision33" type="mesh" mesh="cups_a_col33"
161
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
162
  group="3" rgba="0 1 0 0" />
163
  <geom name="cups_a_collision34" type="mesh" mesh="cups_a_col34"
164
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
165
  group="3" rgba="0 1 0 0" />
166
  <geom name="cups_a_collision35" type="mesh" mesh="cups_a_col35"
167
+ density="314.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
168
  group="3" rgba="0 1 0 0" />
169
  </body>
170
  </worldbody>
assets/ycb/cups_f/cups_f.xml CHANGED
@@ -5,7 +5,9 @@
5
  textured.obj -> trimesh recenter (xy centered on AABB, base at z=0) -> visual mesh
6
  + CoACD convex-decomposed collision (43 parts, threshold=0.1) so the
7
  concave shape is collision-true (cavity preserved / tool silhouette kept).
8
- Density 700.0 kg/m^3 over the summed part volume 9.1e-05 m^3 -> mass 0.064 kg.
 
 
9
  Recentered AABB (m): size=[0.0807, 0.0809, 0.0722].
10
  License: YCB CC BY 4.0.
11
  -->
@@ -64,133 +66,133 @@
64
  <geom name="cups_f_visual" type="mesh" mesh="cups_f_mesh" material="cups_f_mat"
65
  group="2" contype="0" conaffinity="0" density="0" />
66
  <geom name="cups_f_collision0" type="mesh" mesh="cups_f_col0"
67
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
68
  group="3" rgba="0 1 0 0" />
69
  <geom name="cups_f_collision1" type="mesh" mesh="cups_f_col1"
70
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
71
  group="3" rgba="0 1 0 0" />
72
  <geom name="cups_f_collision2" type="mesh" mesh="cups_f_col2"
73
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
74
  group="3" rgba="0 1 0 0" />
75
  <geom name="cups_f_collision3" type="mesh" mesh="cups_f_col3"
76
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
77
  group="3" rgba="0 1 0 0" />
78
  <geom name="cups_f_collision4" type="mesh" mesh="cups_f_col4"
79
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
80
  group="3" rgba="0 1 0 0" />
81
  <geom name="cups_f_collision5" type="mesh" mesh="cups_f_col5"
82
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
83
  group="3" rgba="0 1 0 0" />
84
  <geom name="cups_f_collision6" type="mesh" mesh="cups_f_col6"
85
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
86
  group="3" rgba="0 1 0 0" />
87
  <geom name="cups_f_collision7" type="mesh" mesh="cups_f_col7"
88
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
89
  group="3" rgba="0 1 0 0" />
90
  <geom name="cups_f_collision8" type="mesh" mesh="cups_f_col8"
91
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
92
  group="3" rgba="0 1 0 0" />
93
  <geom name="cups_f_collision9" type="mesh" mesh="cups_f_col9"
94
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
95
  group="3" rgba="0 1 0 0" />
96
  <geom name="cups_f_collision10" type="mesh" mesh="cups_f_col10"
97
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
98
  group="3" rgba="0 1 0 0" />
99
  <geom name="cups_f_collision11" type="mesh" mesh="cups_f_col11"
100
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
101
  group="3" rgba="0 1 0 0" />
102
  <geom name="cups_f_collision12" type="mesh" mesh="cups_f_col12"
103
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
104
  group="3" rgba="0 1 0 0" />
105
  <geom name="cups_f_collision13" type="mesh" mesh="cups_f_col13"
106
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
107
  group="3" rgba="0 1 0 0" />
108
  <geom name="cups_f_collision14" type="mesh" mesh="cups_f_col14"
109
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
110
  group="3" rgba="0 1 0 0" />
111
  <geom name="cups_f_collision15" type="mesh" mesh="cups_f_col15"
112
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
113
  group="3" rgba="0 1 0 0" />
114
  <geom name="cups_f_collision16" type="mesh" mesh="cups_f_col16"
115
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
116
  group="3" rgba="0 1 0 0" />
117
  <geom name="cups_f_collision17" type="mesh" mesh="cups_f_col17"
118
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
119
  group="3" rgba="0 1 0 0" />
120
  <geom name="cups_f_collision18" type="mesh" mesh="cups_f_col18"
121
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
122
  group="3" rgba="0 1 0 0" />
123
  <geom name="cups_f_collision19" type="mesh" mesh="cups_f_col19"
124
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
125
  group="3" rgba="0 1 0 0" />
126
  <geom name="cups_f_collision20" type="mesh" mesh="cups_f_col20"
127
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
128
  group="3" rgba="0 1 0 0" />
129
  <geom name="cups_f_collision21" type="mesh" mesh="cups_f_col21"
130
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
131
  group="3" rgba="0 1 0 0" />
132
  <geom name="cups_f_collision22" type="mesh" mesh="cups_f_col22"
133
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
134
  group="3" rgba="0 1 0 0" />
135
  <geom name="cups_f_collision23" type="mesh" mesh="cups_f_col23"
136
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
137
  group="3" rgba="0 1 0 0" />
138
  <geom name="cups_f_collision24" type="mesh" mesh="cups_f_col24"
139
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
140
  group="3" rgba="0 1 0 0" />
141
  <geom name="cups_f_collision25" type="mesh" mesh="cups_f_col25"
142
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
143
  group="3" rgba="0 1 0 0" />
144
  <geom name="cups_f_collision26" type="mesh" mesh="cups_f_col26"
145
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
146
  group="3" rgba="0 1 0 0" />
147
  <geom name="cups_f_collision27" type="mesh" mesh="cups_f_col27"
148
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
149
  group="3" rgba="0 1 0 0" />
150
  <geom name="cups_f_collision28" type="mesh" mesh="cups_f_col28"
151
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
152
  group="3" rgba="0 1 0 0" />
153
  <geom name="cups_f_collision29" type="mesh" mesh="cups_f_col29"
154
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
155
  group="3" rgba="0 1 0 0" />
156
  <geom name="cups_f_collision30" type="mesh" mesh="cups_f_col30"
157
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
158
  group="3" rgba="0 1 0 0" />
159
  <geom name="cups_f_collision31" type="mesh" mesh="cups_f_col31"
160
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
161
  group="3" rgba="0 1 0 0" />
162
  <geom name="cups_f_collision32" type="mesh" mesh="cups_f_col32"
163
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
164
  group="3" rgba="0 1 0 0" />
165
  <geom name="cups_f_collision33" type="mesh" mesh="cups_f_col33"
166
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
167
  group="3" rgba="0 1 0 0" />
168
  <geom name="cups_f_collision34" type="mesh" mesh="cups_f_col34"
169
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
170
  group="3" rgba="0 1 0 0" />
171
  <geom name="cups_f_collision35" type="mesh" mesh="cups_f_col35"
172
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
173
  group="3" rgba="0 1 0 0" />
174
  <geom name="cups_f_collision36" type="mesh" mesh="cups_f_col36"
175
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
176
  group="3" rgba="0 1 0 0" />
177
  <geom name="cups_f_collision37" type="mesh" mesh="cups_f_col37"
178
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
179
  group="3" rgba="0 1 0 0" />
180
  <geom name="cups_f_collision38" type="mesh" mesh="cups_f_col38"
181
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
182
  group="3" rgba="0 1 0 0" />
183
  <geom name="cups_f_collision39" type="mesh" mesh="cups_f_col39"
184
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
185
  group="3" rgba="0 1 0 0" />
186
  <geom name="cups_f_collision40" type="mesh" mesh="cups_f_col40"
187
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
188
  group="3" rgba="0 1 0 0" />
189
  <geom name="cups_f_collision41" type="mesh" mesh="cups_f_col41"
190
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
191
  group="3" rgba="0 1 0 0" />
192
  <geom name="cups_f_collision42" type="mesh" mesh="cups_f_col42"
193
- density="700.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
194
  group="3" rgba="0 1 0 0" />
195
  </body>
196
  </worldbody>
 
5
  textured.obj -> trimesh recenter (xy centered on AABB, base at z=0) -> visual mesh
6
  + CoACD convex-decomposed collision (43 parts, threshold=0.1) so the
7
  concave shape is collision-true (cavity preserved / tool silhouette kept).
8
+ Density 231.0 kg/m^3 over the summed part volume 9.1e-05 m^3 -> mass 0.021 kg.
9
+ 2026-08-13 mass fit: the 700 kg/m^3 fallback (this cup is absent from build_ycb_assets.py's
10
+ REAL_MASS_KG) put it at 3.0x the YCB 065-f stacking cup it scans. Refit to the real mass.
11
  Recentered AABB (m): size=[0.0807, 0.0809, 0.0722].
12
  License: YCB CC BY 4.0.
13
  -->
 
66
  <geom name="cups_f_visual" type="mesh" mesh="cups_f_mesh" material="cups_f_mat"
67
  group="2" contype="0" conaffinity="0" density="0" />
68
  <geom name="cups_f_collision0" type="mesh" mesh="cups_f_col0"
69
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
70
  group="3" rgba="0 1 0 0" />
71
  <geom name="cups_f_collision1" type="mesh" mesh="cups_f_col1"
72
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
73
  group="3" rgba="0 1 0 0" />
74
  <geom name="cups_f_collision2" type="mesh" mesh="cups_f_col2"
75
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
76
  group="3" rgba="0 1 0 0" />
77
  <geom name="cups_f_collision3" type="mesh" mesh="cups_f_col3"
78
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
79
  group="3" rgba="0 1 0 0" />
80
  <geom name="cups_f_collision4" type="mesh" mesh="cups_f_col4"
81
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
82
  group="3" rgba="0 1 0 0" />
83
  <geom name="cups_f_collision5" type="mesh" mesh="cups_f_col5"
84
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
85
  group="3" rgba="0 1 0 0" />
86
  <geom name="cups_f_collision6" type="mesh" mesh="cups_f_col6"
87
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
88
  group="3" rgba="0 1 0 0" />
89
  <geom name="cups_f_collision7" type="mesh" mesh="cups_f_col7"
90
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
91
  group="3" rgba="0 1 0 0" />
92
  <geom name="cups_f_collision8" type="mesh" mesh="cups_f_col8"
93
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
94
  group="3" rgba="0 1 0 0" />
95
  <geom name="cups_f_collision9" type="mesh" mesh="cups_f_col9"
96
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
97
  group="3" rgba="0 1 0 0" />
98
  <geom name="cups_f_collision10" type="mesh" mesh="cups_f_col10"
99
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
100
  group="3" rgba="0 1 0 0" />
101
  <geom name="cups_f_collision11" type="mesh" mesh="cups_f_col11"
102
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
103
  group="3" rgba="0 1 0 0" />
104
  <geom name="cups_f_collision12" type="mesh" mesh="cups_f_col12"
105
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
106
  group="3" rgba="0 1 0 0" />
107
  <geom name="cups_f_collision13" type="mesh" mesh="cups_f_col13"
108
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
109
  group="3" rgba="0 1 0 0" />
110
  <geom name="cups_f_collision14" type="mesh" mesh="cups_f_col14"
111
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
112
  group="3" rgba="0 1 0 0" />
113
  <geom name="cups_f_collision15" type="mesh" mesh="cups_f_col15"
114
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
115
  group="3" rgba="0 1 0 0" />
116
  <geom name="cups_f_collision16" type="mesh" mesh="cups_f_col16"
117
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
118
  group="3" rgba="0 1 0 0" />
119
  <geom name="cups_f_collision17" type="mesh" mesh="cups_f_col17"
120
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
121
  group="3" rgba="0 1 0 0" />
122
  <geom name="cups_f_collision18" type="mesh" mesh="cups_f_col18"
123
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
124
  group="3" rgba="0 1 0 0" />
125
  <geom name="cups_f_collision19" type="mesh" mesh="cups_f_col19"
126
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
127
  group="3" rgba="0 1 0 0" />
128
  <geom name="cups_f_collision20" type="mesh" mesh="cups_f_col20"
129
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
130
  group="3" rgba="0 1 0 0" />
131
  <geom name="cups_f_collision21" type="mesh" mesh="cups_f_col21"
132
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
133
  group="3" rgba="0 1 0 0" />
134
  <geom name="cups_f_collision22" type="mesh" mesh="cups_f_col22"
135
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
136
  group="3" rgba="0 1 0 0" />
137
  <geom name="cups_f_collision23" type="mesh" mesh="cups_f_col23"
138
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
139
  group="3" rgba="0 1 0 0" />
140
  <geom name="cups_f_collision24" type="mesh" mesh="cups_f_col24"
141
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
142
  group="3" rgba="0 1 0 0" />
143
  <geom name="cups_f_collision25" type="mesh" mesh="cups_f_col25"
144
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
145
  group="3" rgba="0 1 0 0" />
146
  <geom name="cups_f_collision26" type="mesh" mesh="cups_f_col26"
147
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
148
  group="3" rgba="0 1 0 0" />
149
  <geom name="cups_f_collision27" type="mesh" mesh="cups_f_col27"
150
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
151
  group="3" rgba="0 1 0 0" />
152
  <geom name="cups_f_collision28" type="mesh" mesh="cups_f_col28"
153
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
154
  group="3" rgba="0 1 0 0" />
155
  <geom name="cups_f_collision29" type="mesh" mesh="cups_f_col29"
156
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
157
  group="3" rgba="0 1 0 0" />
158
  <geom name="cups_f_collision30" type="mesh" mesh="cups_f_col30"
159
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
160
  group="3" rgba="0 1 0 0" />
161
  <geom name="cups_f_collision31" type="mesh" mesh="cups_f_col31"
162
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
163
  group="3" rgba="0 1 0 0" />
164
  <geom name="cups_f_collision32" type="mesh" mesh="cups_f_col32"
165
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
166
  group="3" rgba="0 1 0 0" />
167
  <geom name="cups_f_collision33" type="mesh" mesh="cups_f_col33"
168
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
169
  group="3" rgba="0 1 0 0" />
170
  <geom name="cups_f_collision34" type="mesh" mesh="cups_f_col34"
171
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
172
  group="3" rgba="0 1 0 0" />
173
  <geom name="cups_f_collision35" type="mesh" mesh="cups_f_col35"
174
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
175
  group="3" rgba="0 1 0 0" />
176
  <geom name="cups_f_collision36" type="mesh" mesh="cups_f_col36"
177
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
178
  group="3" rgba="0 1 0 0" />
179
  <geom name="cups_f_collision37" type="mesh" mesh="cups_f_col37"
180
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
181
  group="3" rgba="0 1 0 0" />
182
  <geom name="cups_f_collision38" type="mesh" mesh="cups_f_col38"
183
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
184
  group="3" rgba="0 1 0 0" />
185
  <geom name="cups_f_collision39" type="mesh" mesh="cups_f_col39"
186
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
187
  group="3" rgba="0 1 0 0" />
188
  <geom name="cups_f_collision40" type="mesh" mesh="cups_f_col40"
189
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
190
  group="3" rgba="0 1 0 0" />
191
  <geom name="cups_f_collision41" type="mesh" mesh="cups_f_col41"
192
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
193
  group="3" rgba="0 1 0 0" />
194
  <geom name="cups_f_collision42" type="mesh" mesh="cups_f_col42"
195
+ density="231.0" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
196
  group="3" rgba="0 1 0 0" />
197
  </body>
198
  </worldbody>
assets/ycb/tennis_ball/tennis_ball.xml CHANGED
@@ -7,6 +7,13 @@
7
  concave shape is collision-true (cavity preserved / tool silhouette kept).
8
  Density 358.7 kg/m^3 over the summed part volume 0.000162 m^3 -> mass 0.058 kg.
9
  Recentered AABB (m): size=[0.067, 0.067, 0.0665].
 
 
 
 
 
 
 
10
  License: YCB CC BY 4.0.
11
  -->
12
  <mujoco model="ycb_tennis_ball">
@@ -23,10 +30,10 @@
23
  <geom name="tennis_ball_visual" type="mesh" mesh="tennis_ball_mesh" material="tennis_ball_mat"
24
  group="2" contype="0" conaffinity="0" density="0" />
25
  <geom name="tennis_ball_collision0" type="mesh" mesh="tennis_ball_col0"
26
- density="358.7" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
27
  group="3" rgba="0 1 0 0" />
28
  <geom name="tennis_ball_collision1" type="mesh" mesh="tennis_ball_col1"
29
- density="358.7" friction="2.0 0.1 0.01" solref="0.01 1" priority="2"
30
  group="3" rgba="0 1 0 0" />
31
  </body>
32
  </worldbody>
 
7
  concave shape is collision-true (cavity preserved / tool silhouette kept).
8
  Density 358.7 kg/m^3 over the summed part volume 0.000162 m^3 -> mass 0.058 kg.
9
  Recentered AABB (m): size=[0.067, 0.067, 0.0665].
10
+ 2026-08-13 restitution: solref dampratio 1.0 (critically damped) made the one prop here that is
11
+ SUPPOSED to bounce perfectly inelastic; measured e = 0.000 against the ITF spec e = 0.73
12
+ (1.35 m rebound from 2.54 m). Authored 0.006 s / 0.30 gives a consistent e = 0.39 (0.40, 0.46
13
+ bounce-to-bounce). 0.73 is NOT reachable in this contact model at dt=0.002: below dampratio
14
+ 0.28 the ball GAINS energy between bounces (e = 1.32, 1.63 measured): numerical, not physical.
15
+ NOTE: HAND_TRACK_SIM_PARAMS overwrites every geom solref, so this needs a backend opt-out to
16
+ take effect in a shipped run; audited with the "authored" contact profile.
17
  License: YCB CC BY 4.0.
18
  -->
19
  <mujoco model="ycb_tennis_ball">
 
30
  <geom name="tennis_ball_visual" type="mesh" mesh="tennis_ball_mesh" material="tennis_ball_mat"
31
  group="2" contype="0" conaffinity="0" density="0" />
32
  <geom name="tennis_ball_collision0" type="mesh" mesh="tennis_ball_col0"
33
+ density="358.7" friction="2.0 0.1 0.01" solref="0.006 0.30" priority="2"
34
  group="3" rgba="0 1 0 0" />
35
  <geom name="tennis_ball_collision1" type="mesh" mesh="tennis_ball_col1"
36
+ density="358.7" friction="2.0 0.1 0.01" solref="0.006 0.30" priority="2"
37
  group="3" rgba="0 1 0 0" />
38
  </body>
39
  </worldbody>