Update assets/libero/COMMON/stable_hope_objects/popcorn/mjcf/popcorn.xml
Browse files
assets/libero/COMMON/stable_hope_objects/popcorn/mjcf/popcorn.xml
CHANGED
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@@ -1,17 +1,25 @@
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<mujoco model="popcorn">
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<asset>
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<worldbody>
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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>
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<mujoco model="popcorn">
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<asset>
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<texture file="texture_map.png" name="tex-popcorn" type="2d"/>
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<material name="popcorn" reflectance="0.5" texrepeat="1 1" texture="tex-popcorn" texuniform="false"/>
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<mesh file="visual/popcorn_vis.msh" name="popcorn_vis" scale="0.005 0.005 0.005"/>
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</asset>
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<worldbody>
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<body name="object">
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<geom pos="0 0 0" mesh="popcorn_vis" type="mesh"
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solimp="0.998 0.998 0.001" solref="0.001 1"
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density="100" friction="0.95 0.3 0.1"
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material="popcorn" contype="0" conaffinity="0" group="1"/>
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<geom type="box" pos="0.00000 0.00000 0.00000"
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quat="0.00707 0.00000 0.00707 0.00000"
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size="0.01 0.021 0.031"
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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>
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