Hugging Face's logo

Datasets:
RoboVerseOrg
/
roboverse_data

Tasks:
Robotics
ArXiv:
License:
Dataset card Files
xet
Community
47
Priosin commited on
Commit
f423ff2
·
verified ·
1 Parent(s): 727bbcd

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

Browse files
Files changed (1) hide show
  1. assets/libero/COMMON/stable_hope_objects/tomato_sauce/mjcf/tomato_sauce.xml +35 -10
assets/libero/COMMON/stable_hope_objects/tomato_sauce/mjcf/tomato_sauce.xml CHANGED
@@ -1,15 +1,40 @@
1
  <mujoco model="textured">
2
  <asset>
3
- <texture file="texture_map.png" name="tex-textured" type="2d" />
4
- <material name="textured" reflectance="0.5" texrepeat="1 1" texture="tex-textured" texuniform="false" />
5
- <mesh file="visual/textured_vis.msh" name="textured_vis" scale="0.01 0.01 0.01" /></asset>
 
 
6
  <worldbody>
7
-
8
- <body name="object">
9
- <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="0.00000 -0.00104 -0.00235" quat="0.50000 -0.50000 0.50000 0.50000" size="0.01874 0.02352 0.03625" 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="0.02595 -0.00000 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01471 0.03760" 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="-0.02470 -0.00060 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01662 0.03760" 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="-0.00012 -0.00060 -0.02325" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" 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="-0.00012 -0.00060 0.01776" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" 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="-0.00012 -0.00060 -0.03162" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" 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="-0.00012 -0.00060 0.02575" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" 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="-0.02944 -0.00060 -0.00291" quat="0.00030 0.00030 -0.70711 0.70711" size="0.00177 0.00694 0.03760" 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="0.02920 -0.00060 -0.00286" quat="0.70711 0.70711 0.00030 -0.00030" size="0.00177 0.00694 0.03760" 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="0.02685 -0.00060 0.00853" quat="0.12141 -0.12141 0.69661 0.69661" size="0.00177 0.00694 0.03760" 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="-0.02626 -0.00060 -0.01619" quat="0.68638 0.68638 -0.16993 0.16993" size="0.00177 0.00694 0.03760" 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="-0.01937 -0.00060 -0.02393" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" 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="-0.00969 -0.00060 -0.03023" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" 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="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" 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="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" 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="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" 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="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" 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="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" 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="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" 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="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" 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="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" 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="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" 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="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" 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="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
10
- <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
11
- <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
12
- <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
13
 
 
 
 
14
  </worldbody>
15
- </mujoco>
 
1
  <mujoco model="textured">
2
  <asset>
3
+ <texture file="texture_map.png" name="tex-textured" type="2d"/>
4
+ <material name="textured" reflectance="0.5" texrepeat="1 1" texture="tex-textured" texuniform="false"/>
5
+ <mesh file="visual/textured_vis.msh" name="textured_vis" scale="0.01 0.01 0.01"/>
6
+ </asset>
7
+
8
  <worldbody>
9
+ <body name="object">
10
+ <geom type="mesh" mesh="textured_vis" group="1" material="textured" conaffinity="0" contype="0"/>
11
+
12
+ <geom type="box" pos="0.00000 -0.00104 -0.00235" quat="0.50000 -0.50000 0.50000 0.50000" size="0.01874 0.02352 0.03625" rgba="0 0 0 0"/>
13
+ <geom type="box" pos="0.02595 -0.00000 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01471 0.03760" rgba="0 0 0 0"/>
14
+ <geom type="box" pos="-0.02470 -0.00060 -0.00209" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00226 0.01662 0.03760" rgba="0 0 0 0"/>
15
+ <geom type="box" pos="-0.00012 -0.00060 -0.02325" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" rgba="0 0 0 0"/>
16
+ <geom type="box" pos="-0.00012 -0.00060 0.01776" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00421 0.01985 0.03760" rgba="0 0 0 0"/>
17
+ <geom type="box" pos="-0.00012 -0.00060 -0.03162" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
18
+ <geom type="box" pos="-0.00012 -0.00060 0.02575" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
19
+ <geom type="box" pos="-0.02944 -0.00060 -0.00291" quat="0.00030 0.00030 -0.70711 0.70711" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
20
+ <geom type="box" pos="0.02920 -0.00060 -0.00286" quat="0.70711 0.70711 0.00030 -0.00030" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
21
+ <geom type="box" pos="0.02685 -0.00060 0.00853" quat="0.12141 -0.12141 0.69661 0.69661" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
22
+ <geom type="box" pos="-0.02626 -0.00060 -0.01619" quat="0.68638 0.68638 -0.16993 0.16993" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
23
+ <geom type="box" pos="-0.01937 -0.00060 -0.02393" quat="0.30330 -0.30330 0.63875 0.63875" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
24
+ <geom type="box" pos="-0.00969 -0.00060 -0.03023" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
25
+ <geom type="box" pos="0.01270 -0.00060 0.02274" quat="0.41278 -0.41278 0.57412 0.57412" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
26
+ <geom type="box" pos="0.01240 -0.00060 -0.02883" quat="0.60318 0.60318 0.36902 -0.36902" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
27
+ <geom type="box" pos="0.02211 -0.00060 -0.02076" quat="0.65137 0.65137 0.27516 -0.27516" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
28
+ <geom type="box" pos="0.02745 -0.00099 -0.01027" quat="0.05205 0.05205 -0.70519 0.70519" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
29
+ <geom type="box" pos="-0.02700 -0.00060 0.00886" quat="0.69496 0.69496 0.13049 -0.13049" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
30
+ <geom type="box" pos="-0.02005 -0.00060 0.01808" quat="0.65572 0.65572 0.26463 -0.26463" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
31
+ <geom type="box" pos="-0.01084 -0.00060 0.02397" quat="0.56204 -0.56204 0.42908 0.42908" size="0.00177 0.00694 0.03760" rgba="0 0 0 0"/>
32
+ <geom type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" rgba="0 0 0 0"/>
33
+ <geom type="box" pos="0.02305 -0.00037 0.01722" quat="0.66333 0.66333 -0.24494 0.24494" size="0.00110 0.00624 0.03750" rgba="0 0 0 0"/>
34
+ </body>
35
 
36
+ <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site"/>
37
+ <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site"/>
38
+ <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site"/>
39
  </worldbody>
40
+ </mujoco>