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robocasa_assert

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robocasa_assert / fixtures /counters /counter_with_opening /model.xml

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	<mujoco model="counter">
	<asset>
	<texture file="visuals/marble.png" type="2d" name="tex_top_2d"/>
	<texture file="visuals/marble.png" type="cube" name="tex_base"/>
	<material name="counter_top" reflectance="0.1" shininess="0.1" texrepeat="3 3" texuniform="true" texture="tex_top_2d"/>
	<material name="counter_base" reflectance="0.1" shininess="0.1" texture="tex_base"/>
	</asset>
	<default>
	<default class="counter">
	<geom group="0" density="10"/>
	</default>
	</default>
	<worldbody>
	<body>
	<body name="object">
	<!-- All sizes and positions are programatically generated -->
	<geom pos="0.0 0 0" size="0.50 0.50 1.0" type="box" material="counter_base" name="base_right" class="counter"/>
	<geom pos="0.0 0 0" size="0.50 0.50 1.0" type="box" material="counter_base" name="base_left" class="counter"/>
	<geom pos="0.0 0 0" size="0.50 0.50 1.0" type="box" material="counter_base" name="base_back" class="counter"/>
	<geom pos="0.0 0 0" size="0.50 0.50 1.0" type="box" material="counter_base" name="base_front" class="counter"/>
	<!-- exterior bounding box points -->
	<site rgba="0 0 0 1" size="0.01" pos="0 0 0" name="ext_p0"/>
	<site rgba="1 0 0 1" size="0.01" pos="0 0 0" name="ext_px"/>
	<site rgba="0 1 0 1" size="0.01" pos="0 0 0" name="ext_py"/>
	<site rgba="0 0 1 1" size="0.01" pos="0 0 0" name="ext_pz"/>
	<!-- interior bounding box points -->
	<site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
	<site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
	<site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
	<site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
	</body>
	</body>
	</worldbody>
	</mujoco>