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- assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/target_bowl.xml +58 -0
- assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/box.xml +19 -0
- assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/material.mtl +9 -0
- assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/plate.xml +28 -0
- assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/ramekin.xml +43 -0
- assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/target_bowl.xml +58 -0
- assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/box.xml +19 -0
- assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/material.mtl +9 -0
- assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/plate.xml +28 -0
- assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/ramekin.xml +43 -0
- assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/target_bowl.xml +58 -0
- assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/box.xml +19 -0
- assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/material.mtl +9 -0
- assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/plate.xml +28 -0
- assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/ramekin.xml +43 -0
- assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/target_bowl.xml +58 -0
- assets/libero_runtime/small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/material.mtl +9 -0
- assets/libero_runtime/small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/ramekin.xml +43 -0
- assets/libero_runtime/small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/box.xml +19 -0
- assets/libero_runtime/small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/material.mtl +9 -0
- assets/libero_runtime/small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/plate.xml +28 -0
- assets/libero_runtime/small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/ramekin.xml +43 -0
- assets/libero_runtime/small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/target_bowl.xml +58 -0
- assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/box.xml +19 -0
- assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/material.mtl +9 -0
- assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/plate.xml +28 -0
- assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/ramekin.xml +43 -0
- assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/target_bowl.xml +58 -0
- assets/libero_runtime/small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/box.xml +19 -0
- assets/libero_runtime/small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/material.mtl +9 -0
- assets/libero_runtime/small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/plate.xml +28 -0
- assets/libero_runtime/small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/ramekin.xml +43 -0
- assets/libero_runtime/small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/target_bowl.xml +58 -0
- assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/box.xml +19 -0
- assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/material.mtl +9 -0
- assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/plate.xml +28 -0
- assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/ramekin.xml +43 -0
- assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/target_bowl.xml +58 -0
- assets/libero_runtime/small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b/box.xml +19 -0
- assets/libero_runtime/small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b/material.mtl +9 -0
- assets/libero_runtime/small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b/plate.xml +28 -0
assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/box.xml
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<mujoco model="small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_box">
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<asset>
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<texture name="tex_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_box" type="2d" file="texture.png" />
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<material name="mat_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_box" texture="tex_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_visual" file="visual.obj" scale="1.008005463 1.358604614 0.3586610597" refpos="-4.648637384e-11 -1.226438953e-08 3.83479609e-07" />
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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_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_box" />
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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="0.025 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_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/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_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/plate.xml
ADDED
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<mujoco model="small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_plate">
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<asset>
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<texture name="tex_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_plate" type="2d" file="texture.png" />
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<material name="mat_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_plate" texture="tex_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<worldbody>
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<body>
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<body name="object">
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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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</body>
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</worldbody>
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</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/ramekin.xml
ADDED
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<mujoco model="small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_ramekin">
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<asset>
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<texture name="tex_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_ramekin" type="2d" file="texture.png" />
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<material name="mat_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_ramekin" texture="tex_small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<worldbody>
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<body>
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<body name="object">
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assets/libero_runtime/small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e/target_bowl.xml
ADDED
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|
| 1 |
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<mujoco model="small_006_cafe_asset_000011_brass_service_bell_001_brass_service_bell_8f0ce82e_target_bowl">
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|
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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" />
|
| 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_black_napkin_holder_001_black_napkin_holder_11d333d4/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_box">
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| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_box" texture="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_visual" file="visual.obj" scale="0.6114315808 1.917219569 0.2537179115" refpos="-7.663738719e-11 -8.690948333e-09 5.420949672e-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_black_napkin_holder_001_black_napkin_holder_11d333d4_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_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_black_napkin_holder_001_black_napkin_holder_11d333d4/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_black_napkin_holder_001_black_napkin_holder_11d333d4/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_plate" texture="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_visual" file="visual.obj" scale="1.367324519 3.140753469 0.2104070237" refpos="-1.095351464e-06 -2.388135981e-06 -0.03947824439" />
|
| 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_black_napkin_holder_001_black_napkin_holder_11d333d4_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_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 |
+
<geom 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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| 17 |
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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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| 18 |
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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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| 20 |
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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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| 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_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/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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|
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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_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_ramekin" texture="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_visual" file="visual.obj" scale="0.8834718268 2.032581336 0.5475966413" refpos="4.584387087e-05 1.697370476e-05 -0.03956927175" />
|
| 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" />
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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_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_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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<geom 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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</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4/target_bowl.xml
ADDED
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| 1 |
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<mujoco model="small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_target_bowl">
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| 2 |
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<asset>
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<texture name="tex_small_006_cafe_asset_000016_black_napkin_holder_001_black_napkin_holder_11d333d4_target_bowl" type="2d" file="texture.png" />
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|
| 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" />
|
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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="0.01821 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 |
+
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|
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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 0.01490 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>
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| 54 |
+
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| 55 |
+
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|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_box">
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| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_box" texture="tex_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_visual" file="visual.obj" scale="1.79881431 0.7173767619 0.2652052895" refpos="-2.60496698e-11 -2.322692496e-08 5.186141014e-07" />
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| 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_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_visual" conaffinity="0" contype="0" group="1" material="mat_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_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>
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| 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" />
|
| 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_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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+
# 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
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| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
| 1 |
+
<mujoco model="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_plate">
|
| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_plate" type="2d" file="texture.png" />
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<material name="mat_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_plate" texture="tex_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_visual" file="visual.obj" scale="4.022629822 1.17519328 0.2199334502" refpos="-3.723188513e-07 -6.382393852e-06 -0.03776824261" />
|
| 6 |
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</asset>
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| 7 |
+
<worldbody>
|
| 8 |
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<body>
|
| 9 |
+
<body name="object">
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| 10 |
+
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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 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/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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|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_ramekin">
|
| 2 |
+
<asset>
|
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+
<texture name="tex_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_ramekin" type="2d" file="texture.png" />
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| 4 |
+
<material name="mat_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_ramekin" texture="tex_small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_visual" file="visual.obj" scale="2.599148971 0.7605423191 0.5723897258" refpos="1.558270372e-05 4.536293988e-05 -0.03785532711" />
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</asset>
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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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<body name="object">
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assets/libero_runtime/small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7/target_bowl.xml
ADDED
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| 1 |
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<mujoco model="small_017_workshop_asset_000078_obj_002_silver_yellow_tape_measure_f91ea4d7_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="-0.00000 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" />
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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>
|
assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_box" texture="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_visual" file="visual.obj" scale="0.6539847399 2.924438977 2.2614878" refpos="-7.165078318e-11 -5.697659053e-09 6.081801677e-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_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_visual" conaffinity="0" contype="0" group="1" material="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_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_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/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_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
| 1 |
+
<mujoco model="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_plate" texture="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_visual" file="visual.obj" scale="1.462484762 4.790761587 1.875440777" refpos="-1.024079671e-06 -1.565627141e-06 -0.004429092086" />
|
| 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_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_visual" conaffinity="0" contype="0" group="1" material="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_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" />
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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 0.04828 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" />
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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" />
|
| 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" />
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| 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>
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| 23 |
+
<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" />
|
| 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_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_ramekin" texture="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_visual" file="visual.obj" scale="0.944957884 3.100406537 4.88094481" refpos="4.286092431e-05 1.112771344e-05 -0.00443930451" />
|
| 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" />
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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_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_visual" conaffinity="0" contype="0" group="1" material="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_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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<geom 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="-0.01352 -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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<geom 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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<geom 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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<geom 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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<geom 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" />
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assets/libero_runtime/small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
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<mujoco model="small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_target_bowl">
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<asset>
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|
| 4 |
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<material name="mat_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_target_bowl" texture="tex_small_034_hallway_asset_000106_obj_002_brass_key_single_3a6d7f67_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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|
assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_box">
|
| 2 |
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<asset>
|
| 3 |
+
<texture name="tex_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_box" type="2d" file="texture.png" />
|
| 4 |
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|
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|
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|
| 10 |
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|
| 11 |
+
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|
| 12 |
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|
| 13 |
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</body>
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| 15 |
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| 16 |
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<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_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/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_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_plate">
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| 2 |
+
<asset>
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<texture name="tex_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_plate" texture="tex_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_visual" file="visual.obj" scale="2.861258569 0.4646511043 0.3504463573" refpos="-5.234413033e-07 -1.614231904e-05 -0.02370262875" />
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| 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">
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| 12 |
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| 14 |
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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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|
| 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" />
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| 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_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_ramekin" texture="tex_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
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+
<mesh name="small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_visual" file="visual.obj" scale="1.848750095 0.3007052834 0.9120572348" refpos="2.190764909e-05 0.0001147317237 -0.02375728132" />
|
| 6 |
+
</asset>
|
| 7 |
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<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
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|
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</body>
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| 39 |
+
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| 40 |
+
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|
| 41 |
+
</body>
|
| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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| 1 |
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<mujoco model="small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_target_bowl">
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| 2 |
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<material name="mat_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_target_bowl" texture="tex_small_037_workshop_asset_000112_obj_001_screwdriver_black_red_handle_0842d3db_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 37 |
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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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<geom 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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| 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="0.03416 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" />
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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" />
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| 46 |
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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" />
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| 47 |
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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 -0.00075 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" />
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| 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 |
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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="0.01821 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_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/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_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_ramekin" texture="tex_small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_visual" file="visual.obj" scale="0.9498593513 2.793938927 1.654614869" refpos="4.263975323e-05 1.234831412e-05 -0.01309549474" />
|
| 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_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_visual" conaffinity="0" contype="0" group="1" material="mat_small_044_hallway_asset_000161_obj_003_wooden_shoe_brush_e1415b1d_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="-0.03823 -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="-0.01724 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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<geom 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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+
<geom 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 |
+
<geom 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 |
+
<geom 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 |
+
<geom 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_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
| 1 |
+
<mujoco model="small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_box" texture="tex_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_visual" file="visual.obj" scale="0.2120907239 2.880472658 0.4147949618" refpos="-2.20936201e-10 -5.784625716e-09 3.315835909e-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_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_visual" conaffinity="0" contype="0" group="1" material="mat_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_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_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/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_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
| 1 |
+
<mujoco model="small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_plate" texture="tex_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_visual" file="visual.obj" scale="0.4742915744 4.71873678 0.3439874342" refpos="-3.157764117e-06 -1.589524213e-06 -0.02414768413" />
|
| 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_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_visual" conaffinity="0" contype="0" group="1" material="mat_small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_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_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
|
| 1 |
+
<mujoco model="small_068_laboratory_workbench_asset_000135_obj_003_white_adjustable_micropipette_301bcef4_ramekin">
|
| 2 |
+
<asset>
|
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| 38 |
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|
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| 42 |
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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" />
|
| 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" />
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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>
|
assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
| 1 |
+
<mujoco model="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_box" texture="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_visual" file="visual.obj" scale="0.3086473479 0.3067797027 0.5160569188" refpos="-1.518189582e-10 -5.431407641e-08 2.665194437e-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_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_visual" conaffinity="0" contype="0" group="1" material="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_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_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/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_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
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|
|
|
| 1 |
+
<mujoco model="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_plate" texture="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_visual" file="visual.obj" scale="0.6902180062 0.502560808 0.4279634801" refpos="-2.169895455e-06 -1.492465438e-05 -0.0194093662" />
|
| 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_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_visual" conaffinity="0" contype="0" group="1" material="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_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" />
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| 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 |
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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" />
|
| 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_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/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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|
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|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_ramekin" texture="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_visual" file="visual.obj" scale="0.4459717896 0.325239064 1.113800101" refpos="9.081688413e-05 0.0001060771578 -0.01945411954" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 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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| 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_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_visual" conaffinity="0" contype="0" group="1" material="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_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" />
|
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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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| 41 |
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</worldbody>
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| 43 |
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</mujoco>
|
assets/libero_runtime/small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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|
| 1 |
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<mujoco model="small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_target_bowl">
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| 2 |
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<asset>
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| 3 |
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<texture name="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_target_bowl" texture="tex_small_082_bedroom_asset_000081_obj_004_maroon_closed_book_a4dc57a1_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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|
| 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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_box" texture="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_visual" file="visual.obj" scale="0.8048741936 1.069324087 0.1319209656" refpos="-5.821843857e-11 -1.558223219e-08 1.042587903e-06" />
|
| 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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_visual" conaffinity="0" contype="0" group="1" material="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_plate" texture="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_visual" file="visual.obj" scale="1.79991393 1.751746849 0.1094014119" refpos="-8.320958514e-07 -4.281752453e-06 -0.07592680718" />
|
| 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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_visual" conaffinity="0" contype="0" group="1" material="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_ramekin" texture="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_visual" file="visual.obj" scale="1.162981594 1.133666805 0.284723602" refpos="3.482580341e-05 3.043260626e-05 -0.07610187618" />
|
| 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_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_visual" conaffinity="0" contype="0" group="1" material="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_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" />
|
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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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</body>
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</worldbody>
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</mujoco>
|
assets/libero_runtime/small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f/target_bowl.xml
ADDED
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| 1 |
+
<mujoco model="small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_target_bowl">
|
| 2 |
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<asset>
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| 3 |
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| 4 |
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<material name="mat_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_target_bowl" texture="tex_small_084_hallway_asset_000066_small_cream_ceramic_vase_001_small_cream_ceramic_vase_9250372f_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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|
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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 |
+
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| 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" />
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</body>
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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_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/box.xml
ADDED
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@@ -0,0 +1,19 @@
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| 1 |
+
<mujoco model="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_box">
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| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_box" type="2d" file="texture.png" />
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+
<material name="mat_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_box" texture="tex_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_visual" file="visual.obj" scale="0.4295624887 0.5790934168 0.06084511808" refpos="-1.090842893e-10 -2.877334767e-08 2.2604805e-06" />
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| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<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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| 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_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_visual" conaffinity="0" contype="0" group="1" material="mat_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_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>
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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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| 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_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
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+
newmtl sceneforge_material
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| 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_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
| 1 |
+
<mujoco model="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_plate">
|
| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_plate" type="2d" file="texture.png" />
|
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+
<material name="mat_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_plate" texture="tex_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_visual" file="visual.obj" scale="0.9606165951 0.9486600741 0.05045855899" refpos="-1.559103728e-06 -7.906463623e-06 -0.1646202363" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
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| 8 |
+
<body>
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| 9 |
+
<body name="object">
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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" name="visual" type="mesh" mesh="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_visual" conaffinity="0" contype="0" group="1" material="mat_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_plate" />
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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 |
+
</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" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/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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|
|
|
|
| 1 |
+
<mujoco model="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_ramekin" texture="tex_small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
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<mesh name="small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03_visual" file="visual.obj" scale="0.6206849114 0.6139382729 0.1313213644" refpos="6.525334771e-05 5.619528383e-05 -0.1649998111" />
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| 6 |
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</asset>
|
| 7 |
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<worldbody>
|
| 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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assets/libero_runtime/small_088_laboratory_workbench_asset_000037_obj_002_amber_reagent_bottle_black_cap_ddbfea03/target_bowl.xml
ADDED
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| 1 |
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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="-0.01810 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_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b/box.xml
ADDED
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@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_box" texture="tex_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_visual" file="visual.obj" scale="0.7806265739 0.7662289757 0.7123563402" refpos="-6.002680458e-11 -2.174605339e-08 1.930764074e-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_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_visual" conaffinity="0" contype="0" group="1" material="mat_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_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_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b/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_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_plate" texture="tex_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_visual" file="visual.obj" scale="1.745689769 1.255222069 0.5907536306" refpos="-8.579421965e-07 -5.975473625e-06 -0.01406085291" />
|
| 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_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_visual" conaffinity="0" contype="0" group="1" material="mat_small_094_hallway_asset_000026_gold_pocket_watch_001_gold_pocket_watch_7978d02b_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" />
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| 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" />
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| 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" />
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| 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" />
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| 22 |
+
</body>
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| 23 |
+
<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" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|