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Priosin commited on
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f1d54b6
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1 Parent(s): 011f7e7

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

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Files changed (1) hide show
  1. assets/libero/COMMON/stable_hope_objects/basket/mjcf/basket.xml +17 -9
assets/libero/COMMON/stable_hope_objects/basket/mjcf/basket.xml CHANGED
@@ -1,16 +1,24 @@
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  <mujoco model="basket">
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  <asset>
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- <texture file="texture.png" name="tex-basket" type="2d" />
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- <material name="basket" reflectance="0.5" texrepeat="1 1" texture="tex-basket" texuniform="false" />
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- <mesh file="visual/basket_vis.msh" name="basket_vis" scale="1.0 1.0 1.0" /></asset>
 
 
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  <worldbody>
 
 
 
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- <body name="object">
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- <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="contain_region"/>
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- <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="10" friction="0.95 0.3 0.1" type="mesh" mesh="basket_vis" conaffinity="0" contype="0" group="1" material="basket" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" 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="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" 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="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" 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="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" 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="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" 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="basket">
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  <asset>
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+ <texture file="texture.png" name="tex-basket" type="2d"/>
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+ <material name="basket" reflectance="0.5" texrepeat="1 1" texture="tex-basket" texuniform="false"/>
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+ <mesh file="visual/basket_vis.msh" name="basket_vis" scale="1.0 1.0 1.0"/>
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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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+ <site type="box" pos="0.00000 0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" rgba="0 0 0 0" name="contain_region"/>
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+ <geom type="mesh" mesh="basket_vis" group="1" material="basket" conaffinity="0" contype="0"/>
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+ <geom type="box" pos="0.00251 0.00000 0.01308" quat="0.70880 0.00000 0.70541 0.00000" size="0.00850 0.07240 0.07658" rgba="0 0 0 0"/>
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+ <geom type="box" pos="-0.07265 0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" rgba="0 0 0 0"/>
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+ <geom type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" rgba="0 0 0 0"/>
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+ <geom type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" 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>