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8c20ae2
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1 Parent(s): b1f19b3

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

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  1. assets/libero/COMMON/stable_hope_objects/cream_cheese/mjcf/cream_cheese.xml +12 -11
assets/libero/COMMON/stable_hope_objects/cream_cheese/mjcf/cream_cheese.xml CHANGED
@@ -1,17 +1,18 @@
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  <mujoco model="cream_cheese">
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  <asset>
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- <texture file="texture_map.png" name="tex-cream_cheese" type="2d" />
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- <material name="cream_cheese" reflectance="0.5" texrepeat="1 1" texture="tex-cream_cheese" texuniform="false" />
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- <mesh file="visual/cream_cheese_vis.msh" name="cream_cheese_vis" scale="0.008 0.008 0.008" /></asset>
 
 
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  <worldbody>
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-
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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="cream_cheese_vis" conaffinity="0" contype="0" group="1" material="cream_cheese" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00707 0.00000 0.00707 0.00000" size="0.01117 0.02667 0.05076" group="0" rgba="0.8 0.8 0.8 0.0" /> -->
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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="cream_cheese_vis" conaffinity="0" contype="0" group="1" material="cream_cheese" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 0.00000 -0.00000" quat="0.00707 0.00000 0.00707 0.00000" size="0.008936 0.021336 0.040608" group="0" rgba="0.8 0.8 0.8 0.0" />
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- </body>
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- <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.025" name="bottom_site" />
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- <site rgba="0 0 0 0" size="0.005" pos="0 0 0.025" 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="cream_cheese">
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  <asset>
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+ <texture file="texture_map.png" name="tex-cream_cheese" type="2d"/>
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+ <material name="cream_cheese" reflectance="0.5" texrepeat="1 1" texture="tex-cream_cheese" texuniform="false"/>
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+ <mesh file="visual/cream_cheese_vis.msh" name="cream_cheese_vis" scale="0.008 0.008 0.008"/>
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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="cream_cheese_vis" group="1" material="cream_cheese" conaffinity="0" contype="0"/>
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+ <geom type="box" pos="0.00000 0.00000 0.00000" quat="0.00707 0.00000 0.00707 0.00000" size="0.008936 0.021336 0.040608" 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 -0.025" name="bottom_site"/>
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+ <site rgba="0 0 0 0" size="0.005" pos="0 0 0.025" 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>