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HaoxiangYou commited on
Commit
713aaec
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1 Parent(s): 16e4eae

update apple mesh geometry

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Files changed (1) hide show
  1. apple_15/output.xml +2 -1
apple_15/output.xml CHANGED
@@ -9,7 +9,8 @@
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  <body>
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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="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
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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="model_normalized_0_vis" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
 
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />
 
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  <body>
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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="model_normalized_0_vis" conaffinity="0" contype="0" group="1" material="apple_u1_v1" />
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+ <!-- Using a cylinder to approximate the apple mesh -->
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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="cylinder" size="0.03 0.025" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 -0.0343740733" name="bottom_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="-9.198630000000125e-05 -9.87755999999987e-05 0.0348929217" name="top_site" />
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  <site rgba="0 0 0 0" size="0.005" pos="0.0295444884 0.029559425700000003 0.0002594242000000008" name="horizontal_radius_site" />