Upload assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/mjcf/preview_world.xml with huggingface_hub
Browse files
assets/robocasa/derived/convex_decompositions/dishwashers/Dishwasher031_rack1_coacd_viz_v1/mjcf/preview_world.xml
ADDED
|
@@ -0,0 +1,24 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="Dishwasher031_rack1_coacd_viz_v1">
|
| 2 |
+
<compiler angle="radian"/>
|
| 3 |
+
<default>
|
| 4 |
+
<default class="convex_collision">
|
| 5 |
+
<geom group="0" rgba="0.8 0.2 0.2 0.35"/>
|
| 6 |
+
</default>
|
| 7 |
+
<default class="rack1_visual">
|
| 8 |
+
<geom contype="0" conaffinity="0" rgba="0.7 0.7 0.7 0.45"/>
|
| 9 |
+
</default>
|
| 10 |
+
</default>
|
| 11 |
+
<asset>
|
| 12 |
+
<mesh name="rack1_visual" file="../../../../../raw/fixtures/dishwashers/Dishwasher031/visuals/rack1.obj"/>
|
| 13 |
+
</asset>
|
| 14 |
+
<option gravity="0 0 -9.81"/>
|
| 15 |
+
<include file="convex_assets_include.xml"/>
|
| 16 |
+
<worldbody>
|
| 17 |
+
<light pos="0 0 2"/>
|
| 18 |
+
<geom type="plane" size="2 2 0.1" rgba="0.9 0.9 0.9 1"/>
|
| 19 |
+
<body name="rack1_preview" pos="0 0 0">
|
| 20 |
+
<geom name="rack1_visual_geom" type="mesh" mesh="rack1_visual" class="rack1_visual"/>
|
| 21 |
+
<include file="convex_geoms_include.xml"/>
|
| 22 |
+
</body>
|
| 23 |
+
</worldbody>
|
| 24 |
+
</mujoco>
|