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Priosin commited on
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2029ca7
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Update assets/libero/COMMON/stable_hope_objects/ketchup/mjcf/ketchup.xml

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Files changed (1) hide show
  1. assets/libero/COMMON/stable_hope_objects/ketchup/mjcf/ketchup.xml +27 -8
assets/libero/COMMON/stable_hope_objects/ketchup/mjcf/ketchup.xml CHANGED
@@ -1,15 +1,34 @@
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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="0.01 0.01 0.01" /></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="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01695 0.02811 0.03307" 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="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.02393" 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="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.01126 0.01834 0.01869" 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="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711" size="0.01032 0.01414 0.01848" 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="0.01368 0.05471 0.00079" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00292 0.00405 0.01848" 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="-0.01322 0.05471 0.00079" quat="0.00000 0.00000 0.70711 0.70711" size="0.00315 0.00460 0.01848" 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="0.00008 0.05471 -0.01554" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00209 0.00685 0.01848" 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="0.00002 0.05471 0.01682" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00186 0.00740 0.01848" 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="0.01333 0.05471 0.00901" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00259 0.00413 0.01848" 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="0.01333 0.05471 -0.00727" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00392 0.01848" 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="-0.01254 0.05471 -0.00799" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00405 0.01848" 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="-0.01259 0.05471 0.00929" quat="0.00000 0.00000 0.70711 0.70711" size="0.00259 0.00380 0.01848" 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="0.025 0.025 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="0.01 0.01 0.01" />
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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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+
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+ <geom type="mesh" mesh="textured_vis"
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+ group="1" material="textured"
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+ conaffinity="0" contype="0"/>
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+
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+ <geom type="box" pos="0.00045 -0.03935 0.00079" quat="0.50000 0.50000 0.50000 -0.50000"
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+ size="0.01695 0.02811 0.03307"
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+ group="0" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00045 0.00369 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000"
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+ size="0.01126 0.01834 0.02393"
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+ group="0" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00045 0.02513 0.00079" quat="0.50000 0.50000 -0.50000 -0.50000"
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+ size="0.01126 0.01834 0.01869"
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+ group="0" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00045 0.05471 0.00079" quat="0.00000 -0.00000 0.70711 -0.70711"
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+ size="0.01032 0.01414 0.01848"
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+ group="0" 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="0.025 0.025 0" name="horizontal_radius_site"/>
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  </worldbody>
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  </mujoco>