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Priosin commited on
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1a9cebf
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1 Parent(s): 8cdf1df

Update assets/libero/COMMON/stable_hope_objects/milk/mjcf/milk.xml

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Files changed (1) hide show
  1. assets/libero/COMMON/stable_hope_objects/milk/mjcf/milk.xml +15 -8
assets/libero/COMMON/stable_hope_objects/milk/mjcf/milk.xml CHANGED
@@ -1,15 +1,22 @@
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  <mujoco model="textured">
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  <asset>
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- <texture file="texture_map.png" name="tex-textured" type="2d" />
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- <material name="textured" reflectance="0.5" texrepeat="1 1" texture="tex-textured" texuniform="false" />
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- <mesh file="visual/textured_vis.msh" name="textured_vis" scale="0.0075 0.0075 0.0075" /></asset>
 
 
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  <worldbody>
 
 
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- <body name="object">
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- <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="textured_vis" conaffinity="0" contype="0" group="1" material="textured" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
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- <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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- <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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- <site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site" />
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  </worldbody>
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  </mujoco>
 
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  <mujoco model="textured">
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  <asset>
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+ <texture file="texture_map.png" name="tex-textured" type="2d"/>
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+ <material name="textured" reflectance="0.5" texrepeat="1 1" texture="tex-textured" texuniform="false"/>
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+ <mesh file="visual/textured_vis.msh" name="textured_vis" scale="0.0075 0.0075 0.0075"/>
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+ </asset>
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+
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  <worldbody>
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+ <body name="object">
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+ <geom type="mesh" mesh="textured_vis" group="1" material="textured" conaffinity="0" contype="0"/>
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+ <geom type="box" pos="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" rgba="0 0 0 0"/>
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+ </body>
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+ <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site"/>
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+ <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site"/>
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+ <site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site"/>
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  </worldbody>
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  </mujoco>