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- assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/box.xml +19 -0
- assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/material.mtl +9 -0
- assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/plate.xml +28 -0
- assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/ramekin.xml +43 -0
- assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/target_bowl.xml +58 -0
- assets/libero_runtime/small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/box.xml +19 -0
- assets/libero_runtime/small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/material.mtl +9 -0
- assets/libero_runtime/small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/plate.xml +28 -0
- assets/libero_runtime/small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/ramekin.xml +43 -0
- assets/libero_runtime/small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/target_bowl.xml +58 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/box.xml +19 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/material.mtl +9 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/plate.xml +28 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/ramekin.xml +43 -0
- assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/target_bowl.xml +58 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/box.xml +19 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/material.mtl +9 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/plate.xml +28 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/ramekin.xml +43 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/target_bowl.xml +58 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/box.xml +19 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/material.mtl +9 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/plate.xml +28 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/ramekin.xml +43 -0
- assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/target_bowl.xml +58 -0
- assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/box.xml +19 -0
- assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/material.mtl +9 -0
- assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/plate.xml +28 -0
- assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/ramekin.xml +43 -0
- assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/target_bowl.xml +58 -0
- assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/box.xml +19 -0
- assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/material.mtl +9 -0
- assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/plate.xml +28 -0
- assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/ramekin.xml +43 -0
- assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/target_bowl.xml +58 -0
- assets/libero_runtime/small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/box.xml +19 -0
- assets/libero_runtime/small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/material.mtl +9 -0
- assets/libero_runtime/small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/plate.xml +28 -0
- assets/libero_runtime/small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/ramekin.xml +43 -0
- assets/libero_runtime/small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/target_bowl.xml +58 -0
assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/box.xml
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<mujoco model="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_box">
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<asset>
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<texture name="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_box" type="2d" file="texture.png" />
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<material name="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_box" texture="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_visual" file="visual.obj" scale="0.2729125293 0.3401688106 0.2965317366" refpos="-1.71697939e-10 -4.898290405e-08 4.638262484e-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_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_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 0 -0.06" name="bottom_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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</body>
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</worldbody>
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</mujoco>
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assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/material.mtl
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# Base-color material converted from the source USD PreviewSurface
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newmtl sceneforge_material
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Ka 1.000000 1.000000 1.000000
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Kd 1.000000 1.000000 1.000000
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Ks 0.150000 0.150000 0.150000
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Ns 48.000000
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d 1.000000
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illum 2
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map_Kd texture.png
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assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/plate.xml
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<mujoco model="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_plate">
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<asset>
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<texture name="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_plate" type="2d" file="texture.png" />
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<material name="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_plate" texture="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_visual" file="visual.obj" scale="0.6103053957 0.5572582242 0.2459123196" refpos="-2.454018799e-06 -1.345973203e-05 -0.03377829918" />
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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="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_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="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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</body>
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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</body>
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</worldbody>
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</mujoco>
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assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/ramekin.xml
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<mujoco model="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_ramekin">
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<asset>
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| 3 |
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<texture name="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_ramekin" type="2d" file="texture.png" />
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<material name="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_ramekin" texture="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_visual" file="visual.obj" scale="0.3943377123 0.3606372409 0.6400012599" refpos="0.0001027083312 9.566520476e-05 -0.03385618383" />
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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="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_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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| 41 |
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</worldbody>
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| 43 |
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</mujoco>
|
assets/libero_runtime/small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330/target_bowl.xml
ADDED
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|
| 1 |
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<mujoco model="small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_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_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_target_bowl" type="2d" file="texture.png" />
|
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<material name="mat_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_target_bowl" texture="tex_small_002_bedroom_asset_000005_obj_002_black_wireframe_eyeglasses_01_3940f330_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
+
<geom 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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_box" texture="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_visual" file="visual.obj" scale="0.2094582776 0.2848781762 0.2447374332" refpos="-2.237129005e-10 -5.84897602e-08 5.619867837e-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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_visual" conaffinity="0" contype="0" group="1" material="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
| 1 |
+
<mujoco model="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_plate" texture="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_visual" file="visual.obj" scale="0.4684047205 0.4666821344 0.2029595569" refpos="-3.197450515e-06 -1.607206665e-05 -0.04092687247" />
|
| 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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_visual" conaffinity="0" contype="0" group="1" material="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/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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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_ramekin" texture="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_visual" file="visual.obj" scale="0.3026511762 0.3020196922 0.5282141714" refpos="0.0001338232643 0.000114232404 -0.04102124002" />
|
| 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_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_visual" conaffinity="0" contype="0" group="1" material="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_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 |
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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" />
|
| 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="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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</worldbody>
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</mujoco>
|
assets/libero_runtime/small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42/target_bowl.xml
ADDED
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| 1 |
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<mujoco model="small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_target_bowl">
|
| 2 |
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<asset>
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| 3 |
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<texture name="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_target_bowl" type="2d" file="texture.png" />
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<material name="mat_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_target_bowl" texture="tex_small_003_living_room_asset_000045_dark_shallow_bowl_001_dark_shallow_bowl_1155aa42_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_box" texture="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_visual" file="visual.obj" scale="0.722166711 2.280840442 0.6140206007" refpos="-6.488601328e-11 -7.30540195e-09 2.23997701e-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_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_plate" texture="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_visual" file="visual.obj" scale="1.614957882 3.736430427 0.5092042826" refpos="-9.273931728e-07 -2.007409615e-06 -0.01631270629" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/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_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_ramekin" texture="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_visual" file="visual.obj" scale="1.043475613 2.418081783 1.325234063" refpos="3.881429317e-05 1.426768761e-05 -0.01635031948" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_ramekin" />
|
| 12 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 15 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 16 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 23 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 24 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 26 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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</mujoco>
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assets/libero_runtime/small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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| 1 |
+
<mujoco model="small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_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_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_target_bowl" texture="tex_small_004_hallway_asset_000048_obj_004_black_tan_shoe_brush_7ed9e425_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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| 7 |
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</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/box.xml
ADDED
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@@ -0,0 +1,19 @@
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| 1 |
+
<mujoco model="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_box">
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| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_box" type="2d" file="texture.png" />
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| 4 |
+
<material name="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_box" texture="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_visual" file="visual.obj" scale="0.7303293561 0.7757349378 0.228732837" refpos="-6.416080417e-11 -2.147957427e-08 6.01309391e-07" />
|
| 6 |
+
</asset>
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| 7 |
+
<worldbody>
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| 8 |
+
<body>
|
| 9 |
+
<body name="object">
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| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
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assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/material.mtl
ADDED
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@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
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| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_plate" texture="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_visual" file="visual.obj" scale="1.63321174 1.27079456 0.1896870236" refpos="-9.170280119e-07 -5.902249353e-06 -0.04379055429" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
|
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|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_ramekin" texture="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_visual" file="visual.obj" scale="1.05527001 0.8224119876 0.4936716235" refpos="3.838047889e-05 4.195030717e-05 -0.0438915248" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_ramekin" />
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| 12 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 15 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 16 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 19 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 21 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 23 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 24 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 26 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01724 0.03413 0.02166" quat="0.52256 -0.06352 0.03908 0.84934" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 28 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02979 0.02397 0.02166" quat="0.33139 -0.07035 0.02478 0.94054" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 29 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03632 0.01194 0.02166" quat="0.15768 -0.07364 0.01179 0.98467" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 30 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02820 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 31 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00057 -0.02674 0.00413" quat="0.70707 -0.00752 0.70707 0.00752" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00087 0.02673 0.00413" quat="0.01150 -0.70701 0.01150 0.70701" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 33 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03172 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 34 |
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</worldbody>
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| 43 |
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|
assets/libero_runtime/small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_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_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_target_bowl" texture="tex_small_006_cafe_asset_000011_ceramic_mug_001_ceramic_mug_19444c65_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 56 |
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|
| 57 |
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|
| 58 |
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|
assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_box">
|
| 2 |
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|
| 3 |
+
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|
| 4 |
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|
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|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_plate" texture="tex_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_visual" file="visual.obj" scale="4.985667276 2.763302563 1.337922188" refpos="-3.004012967e-07 -2.714341334e-06 -0.006208507474" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_ramekin" texture="tex_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_visual" file="visual.obj" scale="3.221398076 1.788308847 3.482021101" refpos="1.257273003e-05 1.929221318e-05 -0.006222822802" />
|
| 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_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4_ramekin" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
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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" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 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="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 21 |
+
<geom 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" />
|
| 22 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 23 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 24 |
+
<geom 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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| 25 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 26 |
+
<geom 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" />
|
| 27 |
+
<geom 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" />
|
| 28 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02979 0.02397 0.02166" quat="0.33139 -0.07035 0.02478 0.94054" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 29 |
+
<geom 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_006_cafe_asset_000017_obj_002_black_car_key_fob_01_c28849f4/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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| 49 |
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| 50 |
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| 51 |
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| 52 |
+
</body>
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| 53 |
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| 54 |
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| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_box" texture="tex_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_visual" file="visual.obj" scale="0.7444533186 1.002106668 0.07637577939" refpos="-6.294352867e-11 -1.662742775e-08 1.80082225e-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_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/ramekin.xml
ADDED
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@@ -0,0 +1,43 @@
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|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_ramekin">
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<asset>
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| 37 |
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| 41 |
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| 42 |
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| 43 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_target_bowl" texture="tex_small_010_retail_store_asset_000055_amber_bottle_001_amber_bottle_c73b1c06_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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| 6 |
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|
| 7 |
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<worldbody>
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| 8 |
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<body>
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03348 0.00022 0.00984" quat="0.86591 -0.00473 0.50017 -0.00248" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00010 0.04712 0.03367" quat="0.09041 0.70130 0.70130 -0.09041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01724 0.04385 0.03367" quat="0.10558 0.55930 0.81905 -0.07209" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03174 0.03483 0.03367" quat="0.11689 0.40164 0.90683 -0.05176" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04214 0.02108 0.03367" quat="0.22890 -0.12439 0.02951 0.96502" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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="-0.04555 -0.01204 0.03367" quat="0.12679 0.12680 0.01635 -0.98366" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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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| 41 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 42 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 43 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 44 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_box" texture="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_visual" file="visual.obj" scale="0.6329014292 0.8590776855 0.07522806652" refpos="-7.403762519e-11 -1.939575023e-08 1.828296396e-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_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_plate" texture="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_visual" file="visual.obj" scale="1.415336842 1.4073251 0.06238626782" refpos="-1.058193972e-06 -5.329647262e-06 -0.1331462867" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
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| 26 |
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</worldbody>
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| 28 |
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|
assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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| 1 |
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<mujoco model="small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_ramekin">
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<asset>
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<texture name="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_ramekin" type="2d" file="texture.png" />
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| 4 |
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<material name="mat_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_ramekin" texture="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 41 |
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| 42 |
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</worldbody>
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| 43 |
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</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_010_retail_store_asset_000055_pump_bottle_001_pump_bottle_54d73cd8_target_bowl" type="2d" file="texture.png" />
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| 4 |
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| 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" type="box" pos="-0.01724 0.04385 0.03367" quat="0.10558 0.55930 0.81905 -0.07209" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04555 -0.01204 0.03367" quat="0.12679 0.12680 0.01635 -0.98366" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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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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| 42 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 44 |
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|
| 45 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_box" texture="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_visual" file="visual.obj" scale="0.2306985292 0.2297260777 1.035182104" refpos="-2.031158108e-10 -7.253184481e-08 1.328647418e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_plate" texture="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_visual" file="visual.obj" scale="0.515903603 0.3763329914 0.858471458" refpos="-2.903063491e-06 -1.993061076e-05 -0.009675918548" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_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 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 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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| 22 |
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</body>
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| 24 |
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|
| 26 |
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</body>
|
| 27 |
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</worldbody>
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| 28 |
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</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_ramekin">
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| 2 |
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<asset>
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| 3 |
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<texture name="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_ramekin" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_ramekin" texture="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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<mesh name="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_visual" file="visual.obj" scale="0.3333417138 0.2435490152 2.234222407" refpos="0.0001215022503 0.000141657052 -0.009698228894" />
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</asset>
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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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| 37 |
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</body>
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| 39 |
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| 40 |
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| 41 |
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</body>
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| 42 |
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</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
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|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_target_bowl" texture="tex_small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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<mesh name="small_010_retail_store_asset_000056_obj_001_black_tablet_flat_c0a21d70_visual" file="visual.obj" scale="0.4201705417 0.3056556195 2.714778793" refpos="1.249657933e-05 4.008124338e-05 -0.009695338966" />
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| 6 |
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|
| 7 |
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<worldbody>
|
| 8 |
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<body>
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| 9 |
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| 10 |
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| 23 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03222 -0.00910 0.00984" quat="0.85700 0.06550 0.49588 -0.12397" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03348 0.00022 0.00984" quat="0.86591 -0.00473 0.50017 -0.00248" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00010 0.04712 0.03367" quat="0.09041 0.70130 0.70130 -0.09041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01724 0.04385 0.03367" quat="0.10558 0.55930 0.81905 -0.07209" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03174 0.03483 0.03367" quat="0.11689 0.40164 0.90683 -0.05176" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04214 0.02108 0.03367" quat="0.22890 -0.12439 0.02951 0.96502" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 32 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04689 0.00460 0.03367" quat="0.12768 0.04949 0.99056 -0.00638" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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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="-0.04555 -0.01204 0.03367" quat="0.12679 0.12680 0.01635 -0.98366" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 36 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01010 -0.04602 0.03367" quat="0.62080 0.09971 0.08003 -0.77348" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 37 |
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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="0.00698 -0.04660 0.03367" quat="0.75082 0.08352 0.09678 -0.64802" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 38 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 39 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 40 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 43 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 44 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
| 1 |
+
<mujoco model="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_box" texture="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" file="visual.obj" scale="1.027556545 0.6009976858 0.3407567749" refpos="-4.560188832e-11 -2.772465952e-08 4.036286673e-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_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" conaffinity="0" contype="0" group="1" material="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_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_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/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_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_plate" texture="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" file="visual.obj" scale="2.297891216 0.9845432405 0.2825879276" refpos="-6.51771896e-07 -7.618300607e-06 -0.02939439053" />
|
| 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_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" conaffinity="0" contype="0" group="1" material="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_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 |
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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 |
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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 |
+
<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>
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| 28 |
+
</mujoco>
|
assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/ramekin.xml
ADDED
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@@ -0,0 +1,43 @@
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| 1 |
+
<mujoco model="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_ramekin">
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| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_ramekin" type="2d" file="texture.png" />
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| 4 |
+
<material name="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_ramekin" texture="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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<mesh name="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" file="visual.obj" scale="1.484740544 0.6371605522 0.7354516846" refpos="2.727868415e-05 5.414716178e-05 -0.02946216694" />
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| 6 |
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</asset>
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| 7 |
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<worldbody>
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| 8 |
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<body>
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| 9 |
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<body name="object">
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<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_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" conaffinity="0" contype="0" group="1" material="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_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="0.00085 0.03290 0.00413" quat="0.70705 0.00914 0.70705 -0.00914" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
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</body>
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| 41 |
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</body>
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| 42 |
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</worldbody>
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| 43 |
+
</mujoco>
|
assets/libero_runtime/small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_target_bowl" texture="tex_small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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<mesh name="small_014_hallway_asset_000043_obj_003_dark_wood_shoe_brush_bristles_27ad1dd6_visual" file="visual.obj" scale="1.871485664 0.7996406931 0.8936391606" refpos="2.805629029e-06 1.532070264e-05 -0.02945338765" />
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| 6 |
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</asset>
|
| 7 |
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<worldbody>
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| 8 |
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<body>
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| 9 |
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<body name="object" pos="0 -0.1 0">
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| 12 |
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|
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| 30 |
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|
| 31 |
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|
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|
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+
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|
| 36 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01010 -0.04602 0.03367" quat="0.62080 0.09971 0.08003 -0.77348" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 37 |
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| 38 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 39 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_box" texture="tex_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_visual" file="visual.obj" scale="0.2516537709 1.876700471 0.7463681937" refpos="-1.862023312e-10 -8.878591162e-09 1.84277953e-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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_visual" conaffinity="0" contype="0" group="1" material="mat_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
| 1 |
+
<mujoco model="small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_plate" texture="tex_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_visual" file="visual.obj" scale="0.5627651271 3.074375836 0.6189594945" refpos="-2.661325023e-06 -2.43969728e-06 -0.01342010257" />
|
| 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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_visual" conaffinity="0" contype="0" group="1" material="mat_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0/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_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_ramekin" texture="tex_small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_017_workshop_asset_000077_obj_001_metal_ratchet_wrench_b4cdcdf0_visual" file="visual.obj" scale="0.3636204338 1.989624147 1.61087845" refpos="0.0001113847424 1.734017731e-05 -0.01345104611" />
|
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ADDED
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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</body>
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| 53 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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| 56 |
+
</body>
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| 57 |
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</worldbody>
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| 58 |
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</mujoco>
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