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

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  1. assets/libero/COMMON/stable_hope_objects/chocolate_pudding/mjcf/chocolate_pudding.xml +14 -11
assets/libero/COMMON/stable_hope_objects/chocolate_pudding/mjcf/chocolate_pudding.xml CHANGED
@@ -1,15 +1,18 @@
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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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-
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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="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" 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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-
 
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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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+ <geom type="mesh" mesh="textured_vis" group="1" material="textured" conaffinity="0" contype="0"/>
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+ <geom type="box" pos="-0.00050 0.00000 0.00063" quat="0.70711 0.00000 0.70711 0.00000" size="0.01371 0.02316 0.04010" rgba="0 0 0 0"/>
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+ </body>
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+
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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>