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chrisjcc commited on
Commit
3739ef7
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verified ·
1 Parent(s): ea73c55

Every object now has density included

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Files changed (1) hide show
  1. assets/tray.xml +11 -12
assets/tray.xml CHANGED
@@ -49,62 +49,61 @@
49
 
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  <!-- Objects -->
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  <body name="obj0" pos="0.12 -0.18 0.1">
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- <geom type="box" size="0.015 0.015 0.015" rgba="1 0 0 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj1" pos="-0.07 0.22 0.1">
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- <geom type="sphere" size="0.015" rgba="0 1 0 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj2" pos="0.19 0.03 0.1">
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- <geom type="box" size="0.015 0.015 0.015" rgba="0 0 1 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj3" pos="-0.14 -0.09 0.1">
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- <geom type="sphere" size="0.015" rgba="1 1 0 1"/>
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  <joint type="free"/>
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  </body>
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  <!-- q=(w,x,y,z) -->
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  <body name="obj4" pos="0.1 0.2 0.1" quat="1 0 0 0">
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- <geom type="cylinder" size="0.015 0.03" rgba="1 0 1 1" density="50"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj5" pos="-0.21 0.08 0.1">
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- <geom type="sphere" size="0.015" rgba="0 1 1 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj6" pos="0.17 -0.12 0.1">
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- <geom type="box" size="0.015 0.015 0.015" rgba="1 0.5 0 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj7" pos="-0.03 -0.20 0.1">
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- <geom type="sphere" size="0.015" rgba="0.5 0 1 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj8" pos="0.24 0.11 0.1">
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- <geom type="box" size="0.015 0.015 0.015" rgba="0.3 0.8 0.2 1"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj9" pos="-0.16 0.19 0.1">
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- <geom type="sphere" size="0.015" rgba="0.9 0.3 0.7 1"/>
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  <joint type="free"/>
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  </body>
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  <!-- Pusher (black disc) -->
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  <body name="pusher" pos="0.20 0.10 0.2">
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- <geom type="cylinder" size="0.04 0.01" rgba="0 0 0 1" density="2000"/>
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  <joint type="free"/>
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  </body>
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-
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  </worldbody>
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  </mujoco>
 
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  <!-- Objects -->
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  <body name="obj0" pos="0.12 -0.18 0.1">
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+ <geom type="box" size="0.015 0.015 0.015" rgba="1 0 0 1" density="1000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj1" pos="-0.07 0.22 0.1">
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+ <geom type="sphere" size="0.015" rgba="0 1 0 1" density="2000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj2" pos="0.19 0.03 0.1">
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+ <geom type="box" size="0.015 0.015 0.015" rgba="0 0 1 1" density="1000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj3" pos="-0.14 -0.09 0.1">
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+ <geom type="sphere" size="0.015" rgba="1 1 0 1" density="2000"/>
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  <joint type="free"/>
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  </body>
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  <!-- q=(w,x,y,z) -->
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  <body name="obj4" pos="0.1 0.2 0.1" quat="1 0 0 0">
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+ <geom type="cylinder" size="0.015 0.03" rgba="1 0 1 1" density="500"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj5" pos="-0.21 0.08 0.1">
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+ <geom type="sphere" size="0.015" rgba="0 1 1 1" density="2000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj6" pos="0.17 -0.12 0.1">
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+ <geom type="box" size="0.015 0.015 0.015" rgba="1 0.5 0 1" density="1000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj7" pos="-0.03 -0.20 0.1">
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+ <geom type="sphere" size="0.015" rgba="0.5 0 1 1" density="2000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj8" pos="0.24 0.11 0.1">
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+ <geom type="box" size="0.015 0.015 0.015" rgba="0.3 0.8 0.2 1" density="1000"/>
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  <joint type="free"/>
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  </body>
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  <body name="obj9" pos="-0.16 0.19 0.1">
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+ <geom type="sphere" size="0.015" rgba="0.9 0.3 0.7 1" density="2000"/>
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  <joint type="free"/>
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  </body>
101
 
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  <!-- Pusher (black disc) -->
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  <body name="pusher" pos="0.20 0.10 0.2">
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+ <geom type="cylinder" size="0.04 0.01" rgba="0 0 0 1" density="2500"/>
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  <joint type="free"/>
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  </body>
 
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  </worldbody>
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  </mujoco>