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- assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/box.xml +19 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/material.mtl +9 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/plate.xml +28 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/ramekin.xml +43 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/target_bowl.xml +58 -0
- assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/box.xml +19 -0
- assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/material.mtl +9 -0
- assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/plate.xml +28 -0
- assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/ramekin.xml +43 -0
- assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/target_bowl.xml +58 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/box.xml +19 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/material.mtl +9 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/plate.xml +28 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/ramekin.xml +43 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/target_bowl.xml +58 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/box.xml +19 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/material.mtl +9 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/plate.xml +28 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/ramekin.xml +43 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/target_bowl.xml +58 -0
assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/box.xml
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<mujoco model="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_box">
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<asset>
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<texture name="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_box" type="2d" file="texture.png" />
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<material name="mat_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_box" texture="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_visual" file="visual.obj" scale="0.271031057 0.3715177983 0.05085981781" refpos="-1.7288985e-10 -4.484968496e-08 2.704280291e-06" />
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</asset>
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<worldbody>
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<body>
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<body name="object">
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<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
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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" name="visual" type="mesh" mesh="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_box" />
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| 12 |
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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="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 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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</body>
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</worldbody>
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</mujoco>
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assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/material.mtl
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# Base-color material converted from the source USD PreviewSurface
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newmtl sceneforge_material
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Ka 1.000000 1.000000 1.000000
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Kd 1.000000 1.000000 1.000000
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Ks 0.150000 0.150000 0.150000
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Ns 48.000000
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d 1.000000
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illum 2
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map_Kd texture.png
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assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/plate.xml
ADDED
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<mujoco model="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_plate">
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<asset>
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| 3 |
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<texture name="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_plate" type="2d" file="texture.png" />
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| 4 |
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<material name="mat_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_plate" texture="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_visual" file="visual.obj" scale="0.6060979206 0.6086135533 0.04217779828" refpos="-2.471054369e-06 -1.232398839e-05 -0.1969401022" />
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</asset>
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<worldbody>
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<body>
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<body name="object">
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| 10 |
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<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
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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" name="visual" type="mesh" mesh="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_plate" />
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| 12 |
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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="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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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| 24 |
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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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| 25 |
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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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| 26 |
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</body>
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| 27 |
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</worldbody>
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| 28 |
+
</mujoco>
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assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/ramekin.xml
ADDED
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<mujoco model="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_ramekin">
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| 2 |
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<asset>
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| 3 |
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<texture name="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_ramekin" type="2d" file="texture.png" />
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| 4 |
+
<material name="mat_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_ramekin" texture="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_visual" file="visual.obj" scale="0.3916191289 0.3938725408 0.1097701981" refpos="0.0001034213228 8.759289344e-05 -0.1973941988" />
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| 6 |
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</asset>
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| 7 |
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<worldbody>
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<body>
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<body name="object">
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| 10 |
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<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
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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" name="visual" type="mesh" mesh="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_ramekin" />
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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="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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assets/libero_runtime/small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea/target_bowl.xml
ADDED
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|
| 1 |
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<mujoco model="small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_target_bowl">
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| 2 |
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<texture name="tex_small_002_bedroom_asset_000006_bedside_table_lamp_001_bedside_table_lamp_2249e7ea_target_bowl" type="2d" file="texture.png" />
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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="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 40 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 43 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 44 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<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 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<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 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<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 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_box" texture="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" file="visual.obj" scale="0.7723839621 0.5773017719 0.9957163413" refpos="-6.066738967e-11 -2.88626452e-08 1.381309086e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
|
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|
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|
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
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|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_plate" texture="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" file="visual.obj" scale="1.727257085 0.9457250346 0.8257426943" refpos="-8.670978559e-07 -7.931001181e-06 -0.01005942888" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_ramekin" texture="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" file="visual.obj" scale="1.116035696 0.6120388222 2.149043877" refpos="3.629074633e-05 5.636968481e-05 -0.01008262351" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_ramekin" />
|
| 12 |
+
<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 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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| 37 |
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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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| 39 |
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| 40 |
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 41 |
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</body>
|
| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
+
<texture name="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_target_bowl" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_target_bowl" texture="tex_small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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<mesh name="small_002_bedroom_asset_000007_obj_003_black_smartphone_8f7a78bf_visual" file="visual.obj" scale="1.406740602 0.7681127563 2.611279308" refpos="3.73252503e-06 1.594955581e-05 -0.01007961903" />
|
| 6 |
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</asset>
|
| 7 |
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<worldbody>
|
| 8 |
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<body>
|
| 9 |
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<body name="object" pos="0 -0.1 0">
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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="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<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 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<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 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<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 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_box" texture="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_visual" file="visual.obj" scale="0.8335328828 4.047932263 3.65960898" refpos="-5.621676093e-11 -4.1162883e-09 3.758303242e-08" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_plate" texture="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_visual" file="visual.obj" scale="1.864002423 6.631247409 3.034895837" refpos="-8.034865706e-07 -1.131091317e-06 -0.002736996704" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
|
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|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_ramekin" texture="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_visual" file="visual.obj" scale="1.204391205 4.291501975 7.898494726" refpos="3.362841588e-05 8.039244931e-06 -0.002743307562" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_ramekin" />
|
| 12 |
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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="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
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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="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 26 |
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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="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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assets/libero_runtime/small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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| 1 |
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<mujoco model="small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_target_bowl">
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| 2 |
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<asset>
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<texture name="tex_small_004_hallway_asset_000048_obj_001_single_metal_key_with_ring_6ca75424_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/box.xml
ADDED
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@@ -0,0 +1,19 @@
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| 1 |
+
<mujoco model="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_box">
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| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_box" type="2d" file="texture.png" />
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| 4 |
+
<material name="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_box" texture="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_visual" file="visual.obj" scale="0.9654041129 1.026956375 0.3104885009" refpos="-4.853772444e-11 -1.622508669e-08 4.429768012e-07" />
|
| 6 |
+
</asset>
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| 7 |
+
<worldbody>
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| 8 |
+
<body>
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| 9 |
+
<body name="object">
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| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/material.mtl
ADDED
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@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
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| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_plate" texture="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_visual" file="visual.obj" scale="2.158901758 1.68234085 0.257486596" refpos="-6.937327784e-07 -4.458398765e-06 -0.03225993133" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
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|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_ramekin" texture="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_visual" file="visual.obj" scale="1.394935038 1.088749768 0.6701239942" refpos="2.903487779e-05 3.168812202e-05 -0.03233431499" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
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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" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_ramekin" />
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| 12 |
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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="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 13 |
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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="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 15 |
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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="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 16 |
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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="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 19 |
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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="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 21 |
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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="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 22 |
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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="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 23 |
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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="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 24 |
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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="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 26 |
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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="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="-0.01724 0.03413 0.02166" quat="0.52256 -0.06352 0.03908 0.84934" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 28 |
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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="box" pos="-0.02979 0.02397 0.02166" quat="0.33139 -0.07035 0.02478 0.94054" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 29 |
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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="box" pos="-0.03632 0.01194 0.02166" quat="0.15768 -0.07364 0.01179 0.98467" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 30 |
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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="box" pos="-0.02820 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 31 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00057 -0.02674 0.00413" quat="0.70707 -0.00752 0.70707 0.00752" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
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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="box" pos="0.00087 0.02673 0.00413" quat="0.01150 -0.70701 0.01150 0.70701" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 33 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03172 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 34 |
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|
assets/libero_runtime/small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
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<mujoco model="small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_target_bowl">
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| 2 |
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<asset>
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|
| 4 |
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<material name="mat_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_target_bowl" texture="tex_small_006_cafe_asset_000011_cream_pitcher_001_cream_pitcher_637d43ee_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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|
| 58 |
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|
assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_box">
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| 2 |
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|
| 3 |
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|
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| 11 |
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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" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/material.mtl
ADDED
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@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_plate" texture="tex_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_visual" file="visual.obj" scale="3.985288576 3.814898453 0.1790488807" refpos="-3.758073941e-07 -1.966119533e-06 -0.04639235874" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
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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" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_ramekin" texture="tex_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_visual" file="visual.obj" scale="2.575021605 2.468863433 0.4659852316" refpos="1.57287101e-05 1.397421787e-05 -0.04649932839" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
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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" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b_ramekin" />
|
| 12 |
+
<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 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 13 |
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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="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 15 |
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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="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 16 |
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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="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 21 |
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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="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 23 |
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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="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 24 |
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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="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.02979 0.02397 0.02166" quat="0.33139 -0.07035 0.02478 0.94054" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 29 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03632 0.01194 0.02166" quat="0.15768 -0.07364 0.01179 0.98467" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 30 |
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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="box" pos="-0.02820 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.00057 -0.02674 0.00413" quat="0.70707 -0.00752 0.70707 0.00752" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00087 0.02673 0.00413" quat="0.01150 -0.70701 0.01150 0.70701" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="-0.03172 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="box" pos="0.03291 -0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 35 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00038 -0.03290 0.00413" quat="0.00404 -0.70710 0.00404 0.70710" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 36 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00085 0.03290 0.00413" quat="0.70705 0.00914 0.70705 -0.00914" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 37 |
+
</body>
|
| 38 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 39 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 40 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 41 |
+
</body>
|
| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_glass_salt_shaker_001_glass_salt_shaker_f0fe6c4b/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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| 50 |
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| 51 |
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| 52 |
+
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| 53 |
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| 54 |
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| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/box.xml
ADDED
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_box">
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| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_box" texture="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_visual" file="visual.obj" scale="1.285190405 1.69986425 0.1701946188" refpos="-3.646037086e-11 -9.802227567e-09 8.081289754e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
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| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
|
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|
|
|
|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
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| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
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| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/plate.xml
ADDED
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| 1 |
+
<mujoco model="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_plate">
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| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_plate" texture="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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<mesh name="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_visual" file="visual.obj" scale="2.874029422 2.784686026 0.1411415654" refpos="-5.21115373e-07 -2.693498045e-06 -0.05885225858" />
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</asset>
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<worldbody>
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| 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="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 22 |
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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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| 24 |
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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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| 25 |
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/ramekin.xml
ADDED
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@@ -0,0 +1,43 @@
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| 1 |
+
<mujoco model="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_ramekin" texture="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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<mesh name="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_visual" file="visual.obj" scale="1.857001749 1.802147446 0.3673292165" refpos="2.181030166e-05 1.914406925e-05 -0.05898795777" />
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| 6 |
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</asset>
|
| 7 |
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<worldbody>
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| 8 |
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<body>
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| 9 |
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<body name="object">
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| 10 |
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<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
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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="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.00038 -0.03290 0.00413" quat="0.00404 -0.70710 0.00404 0.70710" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 36 |
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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="box" pos="0.00085 0.03290 0.00413" quat="0.70705 0.00914 0.70705 -0.00914" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
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</body>
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| 41 |
+
</body>
|
| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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| 1 |
+
<mujoco model="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_target_bowl">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_target_bowl" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_target_bowl" texture="tex_small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_sugar_dispenser_001_sugar_dispenser_5fa677ff_visual" file="visual.obj" scale="2.340713444 2.261706924 0.4463376446" refpos="2.24320261e-06 5.416730676e-06 -0.05897038024" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
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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="box" pos="0.03348 0.00022 0.00984" quat="0.86591 -0.00473 0.50017 -0.00248" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.01724 0.04385 0.03367" quat="0.10558 0.55930 0.81905 -0.07209" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03174 0.03483 0.03367" quat="0.11689 0.40164 0.90683 -0.05176" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 38 |
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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="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 39 |
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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="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 40 |
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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="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
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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="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 42 |
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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="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 43 |
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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="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 44 |
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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="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<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 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<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 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<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 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_box" texture="tex_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_visual" file="visual.obj" scale="0.9973079998 1.380902503 0.1805964341" refpos="-4.698500244e-11 -1.206635239e-08 7.615831599e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_plate" texture="tex_small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_visual" file="visual.obj" scale="2.23024738 2.262168819 0.1497677399" refpos="-6.71540264e-07 -3.315643954e-06 -0.05546254425" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
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assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/ramekin.xml
ADDED
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@@ -0,0 +1,43 @@
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| 1 |
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<mujoco model="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_ramekin">
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<asset>
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| 42 |
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</worldbody>
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| 43 |
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</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
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<mujoco model="small_006_cafe_asset_000016_glass_sugar_dispenser_001_glass_sugar_dispenser_fb3a0165_target_bowl">
|
| 2 |
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<asset>
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| 3 |
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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="box" pos="0.03348 0.00022 0.00984" quat="0.86591 -0.00473 0.50017 -0.00248" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.00010 0.04712 0.03367" quat="0.09041 0.70130 0.70130 -0.09041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.01010 -0.04602 0.03367" quat="0.62080 0.09971 0.08003 -0.77348" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 42 |
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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="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 43 |
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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="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 44 |
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|
| 45 |
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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="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<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 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<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 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<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 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_box" texture="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_visual" file="visual.obj" scale="1.542639721 2.038282239 0.1858870579" refpos="-3.037554275e-11 -8.174754159e-09 7.399073633e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_plate" texture="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_visual" file="visual.obj" scale="3.449754938 3.339076087 0.1541552285" refpos="-4.341470457e-07 -2.246293936e-06 -0.05388399723" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 16 |
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| 19 |
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</body>
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| 24 |
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
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</body>
|
| 27 |
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</worldbody>
|
| 28 |
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</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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| 1 |
+
<mujoco model="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_ramekin">
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| 2 |
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<asset>
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<texture name="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_ramekin" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_ramekin" texture="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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<mesh name="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_visual" file="visual.obj" scale="2.228996302 2.160928516 0.4011980392" refpos="1.817040625e-05 1.596556075e-05 -0.0540082408" />
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</asset>
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<worldbody>
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| 8 |
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<body>
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| 9 |
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<body name="object">
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</body>
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| 39 |
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| 41 |
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| 42 |
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</worldbody>
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| 43 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_target_bowl" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_target_bowl" texture="tex_small_006_cafe_asset_000016_salt_shaker_001_salt_shaker_f1aa09aa_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 6 |
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|
| 7 |
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<worldbody>
|
| 8 |
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<body>
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| 9 |
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| 10 |
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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="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 44 |
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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="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
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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="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<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 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<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 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<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 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_box" texture="tex_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_visual" file="visual.obj" scale="0.8538309241 2.950637311 2.126074273" refpos="-5.488032522e-11 -5.647070263e-09 6.469162655e-08" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_plate" texture="tex_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_visual" file="visual.obj" scale="1.909394272 4.83367921 1.763143002" refpos="-7.843853608e-07 -1.551726137e-06 -0.004711188993" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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</body>
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| 23 |
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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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| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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| 26 |
+
</body>
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| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
|
|
|
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assets/libero_runtime/small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
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<mujoco model="small_006_cafe_asset_000017_obj_001_metal_house_key_01_67ba2249_target_bowl">
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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="box" pos="-0.03174 0.03483 0.03367" quat="0.11689 0.40164 0.90683 -0.05176" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 31 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04214 0.02108 0.03367" quat="0.22890 -0.12439 0.02951 0.96502" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04689 0.00460 0.03367" quat="0.12768 0.04949 0.99056 -0.00638" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 33 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04555 -0.01204 0.03367" quat="0.12679 0.12680 0.01635 -0.98366" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 34 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03825 -0.02751 0.03367" quat="0.12173 -0.30325 0.94430 0.03909" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 35 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02576 -0.03946 0.03367" quat="0.11249 -0.47128 0.87267 0.06075" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 36 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01010 -0.04602 0.03367" quat="0.62080 0.09971 0.08003 -0.77348" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 37 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00698 -0.04660 0.03367" quat="0.75082 0.08352 0.09678 -0.64802" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 38 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 39 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 40 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 43 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 44 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<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 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<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 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<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 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_box" texture="tex_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_visual" file="visual.obj" scale="0.6908027239 0.9199186956 0.1956338741" refpos="-6.783198326e-11 -1.811296617e-08 7.030439055e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_box" />
|
| 12 |
+
<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 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
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|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_plate" texture="tex_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_visual" file="visual.obj" scale="1.54481962 1.506993712 0.1622382155" refpos="-9.694988949e-07 -4.977158369e-06 -0.05119940378" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_plate" />
|
| 12 |
+
<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 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<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 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
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|
|
|
|
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|
|
|
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|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_ramekin" texture="tex_small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_visual" file="visual.obj" scale="0.9981570524 0.9752714826 0.4222344878" refpos="4.05765488e-05 3.537521204e-05 -0.05131745732" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
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assets/libero_runtime/small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0/target_bowl.xml
ADDED
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|
| 1 |
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<mujoco model="small_010_retail_store_asset_000055_black_cylindrical_jar_001_black_cylindrical_jar_97736ca0_target_bowl">
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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</body>
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| 53 |
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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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| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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| 56 |
+
</body>
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| 57 |
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</worldbody>
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| 58 |
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</mujoco>
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