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@@ -771,3 +771,49 @@ studio/room_props_storage/generated_assets/wall_mounted/sdf/clock_1768053366/clo
 studio/room_props_storage/generated_assets/manipuland/sdf/beanie_hat_1768056385/beanie_hat.glb filter=lfs diff=lfs merge=lfs -text
 studio/room_props_storage/generated_assets/manipuland/sdf/satchel_bag_1768055993/satchel_bag.glb filter=lfs diff=lfs merge=lfs -text
 studio/room_props_storage/generated_assets/manipuland/sdf/garment_bag_1768089996/garment_bag.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/perfume_bottle_1768042336/perfume_bottle.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/right_sneaker_1768044386/right_sneaker.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/eyeliner_pencil_1768042336/eyeliner_pencil.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/left_ankle_boot_1768044386/left_ankle_boot.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/leather_tote_bag_1768048490/leather_tote_bag.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/left_sneaker_1768044386/left_sneaker.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/tumbler_cup_1768042741/tumbler_cup.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/potted_succulent_plant_1768043412_purple/potted_succulent_plant.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/jewelry_dish_1768042336/jewelry_dish.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/candle_jar_1768042549_red/candle_jar.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/jewelry_box_1768042563/jewelry_box.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/right_ankle_boot_1768044386/right_ankle_boot.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/potted_succulent_plant_1768043412/potted_succulent_plant.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/manipuland/sdf/vanity_organizer_tray_1768042336/vanity_organizer_tray.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/ceiling_mounted/sdf/track_light_1768041625/track_light.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/ceiling_mounted/sdf/semi_flush_1768041625/semi_flush.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/ceiling_mounted/sdf/smoke_detector_1768041625/smoke_detector.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/furniture/sdf/vanity_mirror_1768037618/vanity_mirror.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/furniture/sdf/vanity_stool_1768035155/vanity_stool.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/furniture/sdf/clothing_rack_1768035155/clothing_rack.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_dressing_room/generated_assets/furniture/sdf/bench_ottoman_1768035155/bench_ottoman.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/wall_mounted/sdf/photo_print_1768010155/photo_print.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/wall_mounted/sdf/whiteboard_1768010295/whiteboard.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/wall_mounted/sdf/photography_print_1768010118/photography_print.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/wall_mounted/sdf/monitor_1768010295/monitor.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/wall_mounted/sdf/clock_1768010118/clock.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/wall_mounted/sdf/wall_plaque_1768010295/wall_plaque.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/binder_clip_1768012757/binder_clip.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/color_checker_card_1768012484/color_checker_card.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/marker_pen_1768012646/marker_pen.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/mirrorless_camera_1768012145/mirrorless_camera.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/tool_pouch_1768014516/tool_pouch.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/camera_lens_1768012484/camera_lens.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/index_cards_1768012757/index_cards.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/memory_card_case_1768014088/memory_card_case.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/camera_battery_charger_1768014088/camera_battery_charger.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/lens_cleaning_cloth_1768014378/lens_cleaning_cloth.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/gaffer_tape_roll_1768014088/gaffer_tape_roll.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/manipuland/sdf/camera_battery_pack_1768014141/camera_battery_pack.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/ceiling_mounted/sdf/track_light_1768011176/track_light.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/ceiling_mounted/sdf/track_lighting_1768011176/track_lighting.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/ceiling_mounted/sdf/led_panel_ceiling_light_1768011176/led_panel_ceiling_light.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/ceiling_mounted/sdf/smoke_detector_1768011176/smoke_detector.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/furniture/sdf/studio_light_stand_1768008167/studio_light_stand.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/furniture/sdf/backdrop_stand_1768008123/backdrop_stand.glb filter=lfs diff=lfs merge=lfs -text
+studio/room_shooting_area/generated_assets/furniture/sdf/stool_1768008024/stool.glb filter=lfs diff=lfs merge=lfs -text

home/articulated_objects/bathroom_1_sink_cabinet_0.xml

@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bathroom_1_sink_cabinet_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/bathroom_1_sink_cabinet_0/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/bathroom_1_sink_cabinet_0/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_3_11_visual_0_E_door_3_11_combined" file="meshes/bathroom_1_sink_cabinet_0/E_door_3_11_visual_0_E_door_3_11_combined.obj" />
+    <mesh name="E_door_3_11_collision_0_E_door_3_11_combined" file="meshes/bathroom_1_sink_cabinet_0/E_door_3_11_collision_0_E_door_3_11_combined.obj" />
+    <mesh name="E_door_4_14_visual_0_E_door_4_14_combined" file="meshes/bathroom_1_sink_cabinet_0/E_door_4_14_visual_0_E_door_4_14_combined.obj" />
+    <mesh name="E_door_4_14_collision_0_E_door_4_14_combined" file="meshes/bathroom_1_sink_cabinet_0/E_door_4_14_collision_0_E_door_4_14_combined.obj" />
+    <mesh name="E_drawer_1_17_visual_0_E_drawer_1_17_combined" file="meshes/bathroom_1_sink_cabinet_0/E_drawer_1_17_visual_0_E_drawer_1_17_combined.obj" />
+    <mesh name="E_drawer_1_17_collision_0_E_drawer_1_17_combined" file="meshes/bathroom_1_sink_cabinet_0/E_drawer_1_17_collision_0_E_drawer_1_17_combined.obj" />
+    <mesh name="E_drawer_2_24_visual_0_E_drawer_2_24_combined" file="meshes/bathroom_1_sink_cabinet_0/E_drawer_2_24_visual_0_E_drawer_2_24_combined.obj" />
+    <mesh name="E_drawer_2_24_collision_0_E_drawer_2_24_combined" file="meshes/bathroom_1_sink_cabinet_0/E_drawer_2_24_collision_0_E_drawer_2_24_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="15" pos="0 -0.00449 0.43341" fullinertia="3.86803292278 4.28346259543 0.637748064646 0 0 0.0291901635" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_3_11">
+        <joint name="RevoluteJoint_double_door_3_left_joint" type="hinge" pos="0.304599 0.12931523 0.63667975" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="0.15401 0.13674 0.34713" fullinertia="0.418841728612 0.450529170235 0.125273715997 -0.0526566554936 -0.133752875655 -0.118664523636" />
+        <geom name="E_door_3_11_visual_0" type="mesh" mesh="E_door_3_11_visual_0_E_door_3_11_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_3_11_collision_0" type="mesh" mesh="E_door_3_11_collision_0_E_door_3_11_combined" group="3" />
+      </body>
+      <body name="E_door_4_14">
+        <joint name="RevoluteJoint_double_door_3_right_joint" type="hinge" pos="-0.30446 0.12904523 0.63537375" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="-0.15304 0.13681 0.34736" fullinertia="0.418763337799 0.449835636584 0.124755343506 0.0523392708221 0.132923073097 -0.118806833334" />
+        <geom name="E_door_4_14_visual_0" type="mesh" mesh="E_door_4_14_visual_0_E_door_4_14_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_4_14_collision_0" type="mesh" mesh="E_door_4_14_collision_0_E_door_4_14_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_17">
+        <joint name="PrismaticJoint_double_door_3_left_joint" type="slide" pos="0.156264 0.13749123 0.75570775" axis="0 -1 0" limited="true" range="-0.20000000298 0" damping="10" />
+        <inertial mass="1" pos="0.157 -0.00333 0.70602" fullinertia="0.506900287504 0.531236543045 0.0395533625494 0.00052281 -0.11084514 0.0023510466" />
+        <geom name="E_drawer_1_17_visual_0" type="mesh" mesh="E_drawer_1_17_visual_0_E_drawer_1_17_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_17_collision_0" type="mesh" mesh="E_drawer_1_17_collision_0_E_drawer_1_17_combined" group="3" />
+      </body>
+      <body name="E_drawer_2_24">
+        <joint name="PrismaticJoint_double_door_3_right_joint" type="slide" pos="-0.156684 0.13593623 0.75595575" axis="0 -1 0" limited="true" range="-0.20000000298 0" damping="10" />
+        <inertial mass="1" pos="-0.15749 -0.00333 0.70627" fullinertia="0.507253360004 0.531743715645 0.0397074626494 -0.0005244417 0.1112304623 0.0023518791" />
+        <geom name="E_drawer_2_24_visual_0" type="mesh" mesh="E_drawer_2_24_visual_0_E_drawer_2_24_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_2_24_collision_0" type="mesh" mesh="E_drawer_2_24_collision_0_E_drawer_2_24_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_double_door_3_left_joint_position" joint="RevoluteJoint_double_door_3_left_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_3_right_joint_position" joint="RevoluteJoint_double_door_3_right_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_3_left_joint_position" joint="PrismaticJoint_double_door_3_left_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_3_right_joint_position" joint="PrismaticJoint_double_door_3_right_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/bathroom_2_linen_cabinet_0.xml

@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bathroom_2_linen_cabinet_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/bathroom_2_linen_cabinet_0/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/bathroom_2_linen_cabinet_0/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_12_visual_0_E_door_1_12_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_1_12_visual_0_E_door_1_12_combined.obj" />
+    <mesh name="E_door_1_12_collision_0_E_door_1_12_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_1_12_collision_0_E_door_1_12_combined.obj" />
+    <mesh name="E_door_2_15_visual_0_E_door_2_15_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_2_15_visual_0_E_door_2_15_combined.obj" />
+    <mesh name="E_door_2_15_collision_0_E_door_2_15_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_2_15_collision_0_E_door_2_15_combined.obj" />
+    <mesh name="E_door_3_18_visual_0_E_door_3_18_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_3_18_visual_0_E_door_3_18_combined.obj" />
+    <mesh name="E_door_3_18_collision_0_E_door_3_18_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_3_18_collision_0_E_door_3_18_combined.obj" />
+    <mesh name="E_door_4_21_visual_0_E_door_4_21_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_4_21_visual_0_E_door_4_21_combined.obj" />
+    <mesh name="E_door_4_21_collision_0_E_door_4_21_combined" file="meshes/bathroom_2_linen_cabinet_0/E_door_4_21_collision_0_E_door_4_21_combined.obj" />
+    <mesh name="E_drawer_1_31_visual_0_E_drawer_1_31_combined" file="meshes/bathroom_2_linen_cabinet_0/E_drawer_1_31_visual_0_E_drawer_1_31_combined.obj" />
+    <mesh name="E_drawer_1_31_collision_0_E_drawer_1_31_combined" file="meshes/bathroom_2_linen_cabinet_0/E_drawer_1_31_collision_0_E_drawer_1_31_combined.obj" />
+    <mesh name="E_drawer_2_24_visual_0_E_drawer_2_24_combined" file="meshes/bathroom_2_linen_cabinet_0/E_drawer_2_24_visual_0_E_drawer_2_24_combined.obj" />
+    <mesh name="E_drawer_2_24_collision_0_E_drawer_2_24_combined" file="meshes/bathroom_2_linen_cabinet_0/E_drawer_2_24_collision_0_E_drawer_2_24_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="33" pos="0 -0.00494 0.68723" fullinertia="21.0252620746 21.9390689568 1.40318413982 0 0 0.1120322346" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_12">
+        <joint name="RevoluteJoint_double_door_4_up_joint" type="hinge" pos="0.304199 0.12869914 1.3542327" axis="0 0 1" limited="true" range="-1.57079632679 0" damping="10" />
+        <inertial mass="2.5" pos="0.1543 0.13628 1.06524" fullinertia="2.96290885621 2.99927102194 0.129290400001 -0.0525845560714 -0.410905794035 -0.362927563154" />
+        <geom name="E_door_1_12_visual_0" type="mesh" mesh="E_door_1_12_visual_0_E_door_1_12_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_12_collision_0" type="mesh" mesh="E_door_1_12_collision_0_E_door_1_12_combined" group="3" />
+      </body>
+      <body name="E_door_2_15">
+        <joint name="RevoluteJoint_double_door_4_up_1_joint" type="hinge" pos="-0.304601 0.12877514 1.3532327" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="-0.15272 0.14126 1.06521" fullinertia="2.95686156332 2.98458787674 0.12776199112 0.053933068 0.406697178 -0.3761789115" />
+        <geom name="E_door_2_15_visual_0" type="mesh" mesh="E_door_2_15_visual_0_E_door_2_15_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_2_15_collision_0" type="mesh" mesh="E_door_2_15_collision_0_E_door_2_15_combined" group="3" />
+      </body>
+      <body name="E_door_3_18">
+        <joint name="RevoluteJoint_double_door_4_down_joint" type="hinge" pos="0.304599 0.12885814 0.63667975" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="0.15401 0.13628 0.34713" fullinertia="0.418527755916 0.450529170397 0.124959742847 -0.0524795439534 -0.133752875844 -0.118265324127" />
+        <geom name="E_door_3_18_visual_0" type="mesh" mesh="E_door_3_18_visual_0_E_door_3_18_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_3_18_collision_0" type="mesh" mesh="E_door_3_18_collision_0_E_door_3_18_combined" group="3" />
+      </body>
+      <body name="E_door_4_21">
+        <joint name="RevoluteJoint_double_door_4_down_1_joint" type="hinge" pos="-0.30446 0.12858814 0.63537375" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="-0.15304 0.13635 0.34736" fullinertia="0.418449202764 0.449835635916 0.124441210067 0.0521632736773 0.132923072972 -0.118407369615" />
+        <geom name="E_door_4_21_visual_0" type="mesh" mesh="E_door_4_21_visual_0_E_door_4_21_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_4_21_collision_0" type="mesh" mesh="E_door_4_21_collision_0_E_door_4_21_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_31">
+        <joint name="PrismaticJoint_double_door_4_left_joint" type="slide" pos="0.159184 0.14040614 0.69575075" axis="0 -1 0" limited="true" range="-0.195379137993 0" damping="10" />
+        <inertial mass="3.5" pos="0.15739 0.00093 0.70613" fullinertia="1.77287067723 1.86030083523 0.137042135217 -0.00051230445 -0.38898230245 -0.00229845315" />
+        <geom name="E_drawer_1_31_visual_0" type="mesh" mesh="E_drawer_1_31_visual_0_E_drawer_1_31_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_31_collision_0" type="mesh" mesh="E_drawer_1_31_collision_0_E_drawer_1_31_combined" group="3" />
+      </body>
+      <body name="E_drawer_2_24">
+        <joint name="PrismaticJoint_double_door_4_right_joint" type="slide" pos="-0.157108 0.14050814 0.69606475" axis="0 -1 0" limited="true" range="-0.195379137993 0" damping="10" />
+        <inertial mass="3.5" pos="-0.15749 0.00101 0.70627" fullinertia="1.77356335456 1.86110300476 0.137152713816 0.00055672715 0.38930661805 -0.00249666445" />
+        <geom name="E_drawer_2_24_visual_0" type="mesh" mesh="E_drawer_2_24_visual_0_E_drawer_2_24_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_2_24_collision_0" type="mesh" mesh="E_drawer_2_24_collision_0_E_drawer_2_24_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_double_door_4_up_joint_position" joint="RevoluteJoint_double_door_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_4_up_1_joint_position" joint="RevoluteJoint_double_door_4_up_1_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_4_down_joint_position" joint="RevoluteJoint_double_door_4_down_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_4_down_1_joint_position" joint="RevoluteJoint_double_door_4_down_1_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_4_right_joint_position" joint="PrismaticJoint_double_door_4_right_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_4_left_joint_position" joint="PrismaticJoint_double_door_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/bathroom_2_vanity_0.xml

@@ -0,0 +1,56 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="bathroom_2_vanity_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/bathroom_2_vanity_0/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/bathroom_2_vanity_0/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_3_11_visual_0_E_door_3_11_combined" file="meshes/bathroom_2_vanity_0/E_door_3_11_visual_0_E_door_3_11_combined.obj" />
+    <mesh name="E_door_3_11_collision_0_E_door_3_11_combined" file="meshes/bathroom_2_vanity_0/E_door_3_11_collision_0_E_door_3_11_combined.obj" />
+    <mesh name="E_door_4_14_visual_0_E_door_4_14_combined" file="meshes/bathroom_2_vanity_0/E_door_4_14_visual_0_E_door_4_14_combined.obj" />
+    <mesh name="E_door_4_14_collision_0_E_door_4_14_combined" file="meshes/bathroom_2_vanity_0/E_door_4_14_collision_0_E_door_4_14_combined.obj" />
+    <mesh name="E_drawer_1_17_visual_0_E_drawer_1_17_combined" file="meshes/bathroom_2_vanity_0/E_drawer_1_17_visual_0_E_drawer_1_17_combined.obj" />
+    <mesh name="E_drawer_1_17_collision_0_E_drawer_1_17_combined" file="meshes/bathroom_2_vanity_0/E_drawer_1_17_collision_0_E_drawer_1_17_combined.obj" />
+    <mesh name="E_drawer_2_24_visual_0_E_drawer_2_24_combined" file="meshes/bathroom_2_vanity_0/E_drawer_2_24_visual_0_E_drawer_2_24_combined.obj" />
+    <mesh name="E_drawer_2_24_collision_0_E_drawer_2_24_combined" file="meshes/bathroom_2_vanity_0/E_drawer_2_24_collision_0_E_drawer_2_24_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="15" pos="0 -0.00449 0.43341" fullinertia="3.86803292278 4.28346259543 0.637748064646 0 0 0.0291901635" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_3_11">
+        <joint name="RevoluteJoint_double_door_3_left_joint" type="hinge" pos="0.304599 0.12931523 0.63667975" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="0.15401 0.13674 0.34713" fullinertia="0.418841728612 0.450529170235 0.125273715997 -0.0526566554936 -0.133752875655 -0.118664523636" />
+        <geom name="E_door_3_11_visual_0" type="mesh" mesh="E_door_3_11_visual_0_E_door_3_11_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_3_11_collision_0" type="mesh" mesh="E_door_3_11_collision_0_E_door_3_11_combined" group="3" />
+      </body>
+      <body name="E_door_4_14">
+        <joint name="RevoluteJoint_double_door_3_right_joint" type="hinge" pos="-0.30446 0.12904523 0.63537375" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="-0.15304 0.13681 0.34736" fullinertia="0.418763337799 0.449835636584 0.124755343506 0.0523392708221 0.132923073097 -0.118806833334" />
+        <geom name="E_door_4_14_visual_0" type="mesh" mesh="E_door_4_14_visual_0_E_door_4_14_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_4_14_collision_0" type="mesh" mesh="E_door_4_14_collision_0_E_door_4_14_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_17">
+        <joint name="PrismaticJoint_double_door_3_left_joint" type="slide" pos="0.156264 0.13749123 0.75570775" axis="0 -1 0" limited="true" range="-0.20000000298 0" damping="10" />
+        <inertial mass="1" pos="0.157 -0.00333 0.70602" fullinertia="0.506900287504 0.531236543045 0.0395533625494 0.00052281 -0.11084514 0.0023510466" />
+        <geom name="E_drawer_1_17_visual_0" type="mesh" mesh="E_drawer_1_17_visual_0_E_drawer_1_17_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_17_collision_0" type="mesh" mesh="E_drawer_1_17_collision_0_E_drawer_1_17_combined" group="3" />
+      </body>
+      <body name="E_drawer_2_24">
+        <joint name="PrismaticJoint_double_door_3_right_joint" type="slide" pos="-0.156684 0.13593623 0.75595575" axis="0 -1 0" limited="true" range="-0.20000000298 0" damping="10" />
+        <inertial mass="1" pos="-0.15749 -0.00333 0.70627" fullinertia="0.507253360004 0.531743715645 0.0397074626494 -0.0005244417 0.1112304623 0.0023518791" />
+        <geom name="E_drawer_2_24_visual_0" type="mesh" mesh="E_drawer_2_24_visual_0_E_drawer_2_24_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_2_24_collision_0" type="mesh" mesh="E_drawer_2_24_collision_0_E_drawer_2_24_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_double_door_3_left_joint_position" joint="RevoluteJoint_double_door_3_left_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_3_right_joint_position" joint="RevoluteJoint_double_door_3_right_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_3_left_joint_position" joint="PrismaticJoint_double_door_3_left_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_3_right_joint_position" joint="PrismaticJoint_double_door_3_right_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/hallway_shoe_cabinet_0.xml

@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="hallway_shoe_cabinet_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_3_visual_0_E_body_3_combined" file="meshes/hallway_shoe_cabinet_0/E_body_3_visual_0_E_body_3_combined.obj" />
+    <mesh name="E_body_3_collision_0_E_body_3_combined" file="meshes/hallway_shoe_cabinet_0/E_body_3_collision_0_E_body_3_combined.obj" />
+    <mesh name="E_door_1_1_visual_0_P_9a699492dce96928" file="meshes/hallway_shoe_cabinet_0/E_door_1_1_visual_0_P_9a699492dce96928.obj" />
+    <mesh name="E_door_1_1_collision_0_P_9a699492dce96928" file="meshes/hallway_shoe_cabinet_0/E_door_1_1_collision_0_P_9a699492dce96928.obj" />
+    <mesh name="E_door_2_2_visual_0_P_8528fe643cd92208" file="meshes/hallway_shoe_cabinet_0/E_door_2_2_visual_0_P_8528fe643cd92208.obj" />
+    <mesh name="E_door_2_2_collision_0_P_8528fe643cd92208" file="meshes/hallway_shoe_cabinet_0/E_door_2_2_collision_0_P_8528fe643cd92208.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_3">
+      <inertial mass="26" pos="9e-05 -0.036 0.67995" fullinertia="15.443195549 17.422367589 2.59156513432 0.000344592249684 -0.00161283035605 0.621584261624" />
+      <geom name="E_body_3_visual_0" type="mesh" mesh="E_body_3_visual_0_E_body_3_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_3_collision_0" type="mesh" mesh="E_body_3_collision_0_E_body_3_combined" group="3" />
+      <body name="E_door_1_1">
+        <joint name="RevoluteJoint_shoe_cabinet_1_left_joint" type="hinge" pos="0.4199828 0.16167441 0.657714" axis="0 0 1" limited="true" range="-1.57079632679 0" damping="10" />
+        <inertial mass="4.5" pos="0.21405 0.16173 0.66432" fullinertia="2.61741254668 2.80007725644 0.418342263612 -0.155748065558 -0.639840049103 -0.483369868017" />
+        <geom name="E_door_1_1_visual_0" type="mesh" mesh="E_door_1_1_visual_0_P_9a699492dce96928" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_1_collision_0" type="mesh" mesh="E_door_1_1_collision_0_P_9a699492dce96928" group="3" />
+      </body>
+      <body name="E_door_2_2">
+        <joint name="RevoluteJoint_shoe_cabinet_1_right_joint" type="hinge" pos="-0.4200122 0.16316241 0.680771" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="4.5" pos="-0.21386 0.16157 0.66407" fullinertia="2.61623496458 2.79883136432 0.417898243896 0.155518570866 0.63923999525 -0.482820512243" />
+        <geom name="E_door_2_2_visual_0" type="mesh" mesh="E_door_2_2_visual_0_P_8528fe643cd92208" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_2_2_collision_0" type="mesh" mesh="E_door_2_2_collision_0_P_8528fe643cd92208" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_shoe_cabinet_1_left_joint_position" joint="RevoluteJoint_shoe_cabinet_1_left_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_shoe_cabinet_1_right_joint_position" joint="RevoluteJoint_shoe_cabinet_1_right_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kids_bedroom_1_wardrobe_0.xml

@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kids_bedroom_1_wardrobe_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_12_visual_0_E_door_1_12_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_1_12_visual_0_E_door_1_12_combined.obj" />
+    <mesh name="E_door_1_12_collision_0_E_door_1_12_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_1_12_collision_0_E_door_1_12_combined.obj" />
+    <mesh name="E_door_2_15_visual_0_E_door_2_15_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_2_15_visual_0_E_door_2_15_combined.obj" />
+    <mesh name="E_door_2_15_collision_0_E_door_2_15_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_2_15_collision_0_E_door_2_15_combined.obj" />
+    <mesh name="E_door_3_18_visual_0_E_door_3_18_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_3_18_visual_0_E_door_3_18_combined.obj" />
+    <mesh name="E_door_3_18_collision_0_E_door_3_18_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_3_18_collision_0_E_door_3_18_combined.obj" />
+    <mesh name="E_door_4_21_visual_0_E_door_4_21_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_4_21_visual_0_E_door_4_21_combined.obj" />
+    <mesh name="E_door_4_21_collision_0_E_door_4_21_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_door_4_21_collision_0_E_door_4_21_combined.obj" />
+    <mesh name="E_drawer_1_31_visual_0_E_drawer_1_31_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_drawer_1_31_visual_0_E_drawer_1_31_combined.obj" />
+    <mesh name="E_drawer_1_31_collision_0_E_drawer_1_31_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_drawer_1_31_collision_0_E_drawer_1_31_combined.obj" />
+    <mesh name="E_drawer_2_24_visual_0_E_drawer_2_24_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_drawer_2_24_visual_0_E_drawer_2_24_combined.obj" />
+    <mesh name="E_drawer_2_24_collision_0_E_drawer_2_24_combined" file="meshes/kids_bedroom_1_wardrobe_0/E_drawer_2_24_collision_0_E_drawer_2_24_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="33" pos="0 -0.006669 0.9277605" fullinertia="38.3185396904 39.9839549969 2.55730269351 0 0 0.204178747558" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_12">
+        <joint name="RevoluteJoint_double_door_4_up_joint" type="hinge" pos="0.41066865 0.17374384 1.82821415" axis="0 0 1" limited="true" range="-1.57079632679 0" damping="10" />
+        <inertial mass="2.5" pos="0.208305 0.183978 1.438074" fullinertia="5.3999014349 5.46617140625 0.235631753772 -0.095835353445 -0.748875809625 -0.661435483849" />
+        <geom name="E_door_1_12_visual_0" type="mesh" mesh="E_door_1_12_visual_0_E_door_1_12_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_12_collision_0" type="mesh" mesh="E_door_1_12_collision_0_E_door_1_12_combined" group="3" />
+      </body>
+      <body name="E_door_2_15">
+        <joint name="RevoluteJoint_double_door_4_up_1_joint" type="hinge" pos="-0.41121135 0.17384644 1.82686415" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
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+        <geom name="E_door_2_15_collision_0" type="mesh" mesh="E_door_2_15_collision_0_E_door_2_15_combined" group="3" />
+      </body>
+      <body name="E_door_3_18">
+        <joint name="RevoluteJoint_double_door_4_down_joint" type="hinge" pos="0.41120865 0.17395849 0.85951766" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
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+        <geom name="E_door_3_18_collision_0" type="mesh" mesh="E_door_3_18_collision_0_E_door_3_18_combined" group="3" />
+      </body>
+      <body name="E_door_4_21">
+        <joint name="RevoluteJoint_double_door_4_down_1_joint" type="hinge" pos="-0.411021 0.17359399 0.85775456" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="2.5" pos="-0.206604 0.1840725 0.468936" fullinertia="0.762623643381 0.81982546228 0.226794105181 0.095067566277 0.24225230049 -0.215797431123" />
+        <geom name="E_door_4_21_visual_0" type="mesh" mesh="E_door_4_21_visual_0_E_door_4_21_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_4_21_collision_0" type="mesh" mesh="E_door_4_21_collision_0_E_door_4_21_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_31">
+        <joint name="PrismaticJoint_double_door_4_left_joint" type="slide" pos="0.2148984 0.18954829 0.93926351" axis="0 -1 0" limited="true" range="-0.195379137993 0" damping="10" />
+        <inertial mass="3.5" pos="0.2124765 0.0012555 0.9532755" fullinertia="3.23105681313 3.39039827683 0.249759287664 -0.000933674860125 -0.708920246215 -0.00418893086588" />
+        <geom name="E_drawer_1_31_visual_0" type="mesh" mesh="E_drawer_1_31_visual_0_E_drawer_1_31_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_31_collision_0" type="mesh" mesh="E_drawer_1_31_collision_0_E_drawer_1_31_combined" group="3" />
+      </body>
+      <body name="E_drawer_2_24">
+        <joint name="PrismaticJoint_double_door_4_right_joint" type="slide" pos="-0.2120958 0.18968599 0.93968741" axis="0 -1 0" limited="true" range="-0.195379137993 0" damping="10" />
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+        <geom name="E_drawer_2_24_visual_0" type="mesh" mesh="E_drawer_2_24_visual_0_E_drawer_2_24_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_2_24_collision_0" type="mesh" mesh="E_drawer_2_24_collision_0_E_drawer_2_24_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_double_door_4_up_joint_position" joint="RevoluteJoint_double_door_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_4_up_1_joint_position" joint="RevoluteJoint_double_door_4_up_1_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_4_down_joint_position" joint="RevoluteJoint_double_door_4_down_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_4_down_1_joint_position" joint="RevoluteJoint_double_door_4_down_1_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_4_right_joint_position" joint="PrismaticJoint_double_door_4_right_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_double_door_4_left_joint_position" joint="PrismaticJoint_double_door_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_fridge_0.xml

@@ -0,0 +1,74 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_fridge_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_15_visual_0_E_body_15_combined" file="meshes/kitchen_fridge_0/E_body_15_visual_0_E_body_15_combined.obj" />
+    <mesh name="E_body_15_collision_0_E_body_15_combined" file="meshes/kitchen_fridge_0/E_body_15_collision_0_E_body_15_combined.obj" />
+    <mesh name="E_door1_9_visual_0_E_door1_9_combined" file="meshes/kitchen_fridge_0/E_door1_9_visual_0_E_door1_9_combined.obj" />
+    <mesh name="E_door1_9_collision_0_E_door1_9_combined" file="meshes/kitchen_fridge_0/E_door1_9_collision_0_E_door1_9_combined.obj" />
+    <mesh name="E_door2_1_visual_0_E_door2_1_combined" file="meshes/kitchen_fridge_0/E_door2_1_visual_0_E_door2_1_combined.obj" />
+    <mesh name="E_door2_1_collision_0_E_door2_1_combined" file="meshes/kitchen_fridge_0/E_door2_1_collision_0_E_door2_1_combined.obj" />
+    <mesh name="E_drawer1_44_visual_0_P_bcc096b8dc30e3bd" file="meshes/kitchen_fridge_0/E_drawer1_44_visual_0_P_bcc096b8dc30e3bd.obj" />
+    <mesh name="E_drawer1_44_collision_0_P_bcc096b8dc30e3bd" file="meshes/kitchen_fridge_0/E_drawer1_44_collision_0_P_bcc096b8dc30e3bd.obj" />
+    <mesh name="E_drawer2_41_visual_0_P_5acfaac9ef6e73bd" file="meshes/kitchen_fridge_0/E_drawer2_41_visual_0_P_5acfaac9ef6e73bd.obj" />
+    <mesh name="E_drawer2_41_collision_0_P_5acfaac9ef6e73bd" file="meshes/kitchen_fridge_0/E_drawer2_41_collision_0_P_5acfaac9ef6e73bd.obj" />
+    <mesh name="E_drawer3_42_visual_0_P_844b4d2e547be3bd" file="meshes/kitchen_fridge_0/E_drawer3_42_visual_0_P_844b4d2e547be3bd.obj" />
+    <mesh name="E_drawer3_42_collision_0_P_844b4d2e547be3bd" file="meshes/kitchen_fridge_0/E_drawer3_42_collision_0_P_844b4d2e547be3bd.obj" />
+    <mesh name="E_srawer4_43_visual_0_P_b305c9a96afbe3bd" file="meshes/kitchen_fridge_0/E_srawer4_43_visual_0_P_b305c9a96afbe3bd.obj" />
+    <mesh name="E_srawer4_43_collision_0_P_b305c9a96afbe3bd" file="meshes/kitchen_fridge_0/E_srawer4_43_collision_0_P_b305c9a96afbe3bd.obj" />
+  </asset>
+  <worldbody>
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+      <geom name="E_body_15_visual_0" type="mesh" mesh="E_body_15_visual_0_E_body_15_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_15_collision_0" type="mesh" mesh="E_body_15_collision_0_E_body_15_combined" group="3" />
+      <body name="E_door1_9">
+        <joint name="RevoluteJoint_refrigerator_6_right_joint" type="hinge" pos="-0.44307267 0.29619249 0.899687" axis="0 0 1" limited="true" range="0 2.09439510239" damping="10" />
+        <inertial mass="30" pos="-0.18792 0.27664 0.89969" fullinertia="33.5913588788 32.9430282932 4.20361936976 1.559585664 5.072092344 -7.466707248" />
+        <geom name="E_door1_9_visual_0" type="mesh" mesh="E_door1_9_visual_0_E_door1_9_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door1_9_collision_0" type="mesh" mesh="E_door1_9_collision_0_E_door1_9_combined" group="3" />
+      </body>
+      <body name="E_door2_1">
+        <joint name="RevoluteJoint_refrigerator_6_left_joint" type="hinge" pos="0.44573433 0.29361349 0.899687" axis="0 0 1" limited="true" range="-2.09439510239 0" damping="10" />
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+        <geom name="E_door2_1_visual_0" type="mesh" mesh="E_door2_1_visual_0_E_door2_1_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door2_1_collision_0" type="mesh" mesh="E_door2_1_collision_0_E_door2_1_combined" group="3" />
+      </body>
+      <body name="E_drawer1_44">
+        <joint name="PrismaticJoint_refrigerator_6_up2_joint" type="slide" pos="0.050352327 0.20676649 0.321753" axis="0 -1 0" limited="true" range="-0.300000011921 0" damping="10" />
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+      </body>
+      <body name="E_drawer2_41">
+        <joint name="PrismaticJoint_refrigerator_6_down2_joint" type="slide" pos="0.050352327 0.20676649 0.11073" axis="0 -1 0" limited="true" range="-0.300000011921 0" damping="10" />
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+        <geom name="E_drawer2_41_collision_0" type="mesh" mesh="E_drawer2_41_collision_0_P_5acfaac9ef6e73bd" group="3" />
+      </body>
+      <body name="E_drawer3_42">
+        <joint name="PrismaticJoint_refrigerator_6_up1_joint" type="slide" pos="0.26598933 -0.29540251 0.70135" axis="0 0 1" limited="true" range="0 0.300000011921" damping="10" />
+        <inertial mass="3" pos="0.26415 -0.05835 0.64696" fullinertia="1.33401621882 1.51389141602 0.321849292159 0.0462391938289 -0.512354490698 0.113251871083" />
+        <geom name="E_drawer3_42_visual_0" type="mesh" mesh="E_drawer3_42_visual_0_P_844b4d2e547be3bd" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer3_42_collision_0" type="mesh" mesh="E_drawer3_42_collision_0_P_844b4d2e547be3bd" group="3" />
+      </body>
+      <body name="E_srawer4_43">
+        <joint name="PrismaticJoint_refrigerator_6_down1_joint" type="slide" pos="0.26155233 -0.29525951 0.444439" axis="0 0 1" limited="true" range="0 0.300000011921" damping="10" />
+        <inertial mass="3" pos="0.26356 -0.04588 0.29997" fullinertia="0.376338951534 0.556094125438 0.326973677921 0.0362761986224 -0.236754303024 0.0412901752391" />
+        <geom name="E_srawer4_43_visual_0" type="mesh" mesh="E_srawer4_43_visual_0_P_b305c9a96afbe3bd" contype="0" conaffinity="0" group="2" />
+        <geom name="E_srawer4_43_collision_0" type="mesh" mesh="E_srawer4_43_collision_0_P_b305c9a96afbe3bd" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_refrigerator_6_left_joint_position" joint="RevoluteJoint_refrigerator_6_left_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_refrigerator_6_right_joint_position" joint="RevoluteJoint_refrigerator_6_right_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_refrigerator_6_down2_joint_position" joint="PrismaticJoint_refrigerator_6_down2_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_refrigerator_6_up1_joint_position" joint="PrismaticJoint_refrigerator_6_up1_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_refrigerator_6_down1_joint_position" joint="PrismaticJoint_refrigerator_6_down1_joint" kp="100" kv="10" />
+    <position name="PrismaticJoint_refrigerator_6_up2_joint_position" joint="PrismaticJoint_refrigerator_6_up2_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_kitchen_base_cabinet_0.xml

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_kitchen_base_cabinet_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_68_visual_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_door_1_68_visual_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_1_68_collision_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_door_1_68_collision_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_2_71_visual_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_door_2_71_visual_0_E_door_2_71_combined.obj" />
+    <mesh name="E_door_2_71_collision_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_door_2_71_collision_0_E_door_2_71_combined.obj" />
+    <mesh name="E_drawer_1_56_visual_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_drawer_1_56_visual_0_E_drawer_1_56_combined.obj" />
+    <mesh name="E_drawer_1_56_collision_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_0/E_drawer_1_56_collision_0_E_drawer_1_56_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="12" pos="-0.0010502 0 0.4500166" fullinertia="3.59138328331 3.58976551835 0.70063233504 0 0.00567128919984 0" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_68">
+        <joint name="RevoluteJoint_chest_of_drawers_4_right_joint" type="hinge" pos="-0.28906258 0.26337678 0.64722935" axis="0 0 1" limited="true" range="0 3.05432619099" damping="10" />
+        <inertial mass="1.5" pos="-0.1482552 0.2819846 0.3755822" fullinertia="0.369688475391 0.294237449926 0.163234188446 0.0627041194909 0.0835142111342 -0.158828145151" />
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+        <geom name="E_door_1_68_collision_0" type="mesh" mesh="E_door_1_68_collision_0_E_door_1_68_combined" group="3" />
+      </body>
+      <body name="E_door_2_71">
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+        <geom name="E_door_2_71_collision_0" type="mesh" mesh="E_door_2_71_collision_0_E_door_2_71_combined" group="3" />
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+      <body name="E_drawer_1_56">
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+        <geom name="E_drawer_1_56_collision_0" type="mesh" mesh="E_drawer_1_56_collision_0_E_drawer_1_56_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="PrismaticJoint_chest_of_drawers_4_up_joint_position" joint="PrismaticJoint_chest_of_drawers_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_right_joint_position" joint="RevoluteJoint_chest_of_drawers_4_right_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_left_joint_position" joint="RevoluteJoint_chest_of_drawers_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_kitchen_base_cabinet_1.xml

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_kitchen_base_cabinet_1">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_1/E_body_1_visual_0_E_body_1_combined.obj" />
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+    <mesh name="E_door_2_71_collision_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_1/E_door_2_71_collision_0_E_door_2_71_combined.obj" />
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+  </asset>
+  <worldbody>
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+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_68">
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+        <geom name="E_door_1_68_collision_0" type="mesh" mesh="E_door_1_68_collision_0_E_door_1_68_combined" group="3" />
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+      <body name="E_door_2_71">
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+        <geom name="E_door_2_71_collision_0" type="mesh" mesh="E_door_2_71_collision_0_E_door_2_71_combined" group="3" />
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+      <body name="E_drawer_1_56">
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+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="PrismaticJoint_chest_of_drawers_4_up_joint_position" joint="PrismaticJoint_chest_of_drawers_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_right_joint_position" joint="RevoluteJoint_chest_of_drawers_4_right_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_left_joint_position" joint="RevoluteJoint_chest_of_drawers_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_kitchen_base_cabinet_2.xml

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_kitchen_base_cabinet_2">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_68_visual_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_door_1_68_visual_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_1_68_collision_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_door_1_68_collision_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_2_71_visual_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_door_2_71_visual_0_E_door_2_71_combined.obj" />
+    <mesh name="E_door_2_71_collision_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_door_2_71_collision_0_E_door_2_71_combined.obj" />
+    <mesh name="E_drawer_1_56_visual_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_drawer_1_56_visual_0_E_drawer_1_56_combined.obj" />
+    <mesh name="E_drawer_1_56_collision_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_2/E_drawer_1_56_collision_0_E_drawer_1_56_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="12" pos="-0.0010502 0 0.4500166" fullinertia="3.59138328331 3.58976551835 0.70063233504 0 0.00567128919984 0" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_68">
+        <joint name="RevoluteJoint_chest_of_drawers_4_right_joint" type="hinge" pos="-0.28906258 0.26337678 0.64722935" axis="0 0 1" limited="true" range="0 3.05432619099" damping="10" />
+        <inertial mass="1.5" pos="-0.1482552 0.2819846 0.3755822" fullinertia="0.369688475391 0.294237449926 0.163234188446 0.0627041194909 0.0835142111342 -0.158828145151" />
+        <geom name="E_door_1_68_visual_0" type="mesh" mesh="E_door_1_68_visual_0_E_door_1_68_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_68_collision_0" type="mesh" mesh="E_door_1_68_collision_0_E_door_1_68_combined" group="3" />
+      </body>
+      <body name="E_door_2_71">
+        <joint name="RevoluteJoint_chest_of_drawers_4_left_joint" type="hinge" pos="-0.19520184 0.70669216 1.20647141" axis="0 0 1" limited="true" range="-3.05432619099 0" damping="10" />
+        <inertial mass="1.5" pos="0.1491284 0.282374 0.3797712" fullinertia="0.375811750338 0.300374276054 0.163914003344 -0.0631649742324 -0.0849520071331 -0.160856269243" />
+        <geom name="E_door_2_71_visual_0" type="mesh" mesh="E_door_2_71_visual_0_E_door_2_71_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_2_71_collision_0" type="mesh" mesh="E_door_2_71_collision_0_E_door_2_71_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_56">
+        <joint name="PrismaticJoint_chest_of_drawers_4_up_joint" type="slide" pos="-0.02403459 0.29372048 0.74363063" axis="0 -1 0" limited="true" range="-0.25 0" damping="10" />
+        <inertial mass="3" pos="-0.003009 0.061242 0.7334644" fullinertia="1.75842602589 1.71321586045 0.233564809935 0.000628621154 0.0067409402388 -0.137174742354" />
+        <geom name="E_drawer_1_56_visual_0" type="mesh" mesh="E_drawer_1_56_visual_0_E_drawer_1_56_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_56_collision_0" type="mesh" mesh="E_drawer_1_56_collision_0_E_drawer_1_56_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="PrismaticJoint_chest_of_drawers_4_up_joint_position" joint="PrismaticJoint_chest_of_drawers_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_right_joint_position" joint="RevoluteJoint_chest_of_drawers_4_right_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_left_joint_position" joint="RevoluteJoint_chest_of_drawers_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_kitchen_base_cabinet_3.xml

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_kitchen_base_cabinet_3">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_68_visual_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_door_1_68_visual_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_1_68_collision_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_door_1_68_collision_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_2_71_visual_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_door_2_71_visual_0_E_door_2_71_combined.obj" />
+    <mesh name="E_door_2_71_collision_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_door_2_71_collision_0_E_door_2_71_combined.obj" />
+    <mesh name="E_drawer_1_56_visual_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_drawer_1_56_visual_0_E_drawer_1_56_combined.obj" />
+    <mesh name="E_drawer_1_56_collision_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_3/E_drawer_1_56_collision_0_E_drawer_1_56_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="12" pos="-0.0010502 0 0.4500166" fullinertia="3.59138328331 3.58976551835 0.70063233504 0 0.00567128919984 0" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_68">
+        <joint name="RevoluteJoint_chest_of_drawers_4_right_joint" type="hinge" pos="-0.28906258 0.26337678 0.64722935" axis="0 0 1" limited="true" range="0 3.05432619099" damping="10" />
+        <inertial mass="1.5" pos="-0.1482552 0.2819846 0.3755822" fullinertia="0.369688475391 0.294237449926 0.163234188446 0.0627041194909 0.0835142111342 -0.158828145151" />
+        <geom name="E_door_1_68_visual_0" type="mesh" mesh="E_door_1_68_visual_0_E_door_1_68_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_68_collision_0" type="mesh" mesh="E_door_1_68_collision_0_E_door_1_68_combined" group="3" />
+      </body>
+      <body name="E_door_2_71">
+        <joint name="RevoluteJoint_chest_of_drawers_4_left_joint" type="hinge" pos="-0.19520184 0.70669216 1.20647141" axis="0 0 1" limited="true" range="-3.05432619099 0" damping="10" />
+        <inertial mass="1.5" pos="0.1491284 0.282374 0.3797712" fullinertia="0.375811750338 0.300374276054 0.163914003344 -0.0631649742324 -0.0849520071331 -0.160856269243" />
+        <geom name="E_door_2_71_visual_0" type="mesh" mesh="E_door_2_71_visual_0_E_door_2_71_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_2_71_collision_0" type="mesh" mesh="E_door_2_71_collision_0_E_door_2_71_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_56">
+        <joint name="PrismaticJoint_chest_of_drawers_4_up_joint" type="slide" pos="-0.02403459 0.29372048 0.74363063" axis="0 -1 0" limited="true" range="-0.25 0" damping="10" />
+        <inertial mass="3" pos="-0.003009 0.061242 0.7334644" fullinertia="1.75842602589 1.71321586045 0.233564809935 0.000628621154 0.0067409402388 -0.137174742354" />
+        <geom name="E_drawer_1_56_visual_0" type="mesh" mesh="E_drawer_1_56_visual_0_E_drawer_1_56_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_56_collision_0" type="mesh" mesh="E_drawer_1_56_collision_0_E_drawer_1_56_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="PrismaticJoint_chest_of_drawers_4_up_joint_position" joint="PrismaticJoint_chest_of_drawers_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_right_joint_position" joint="RevoluteJoint_chest_of_drawers_4_right_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_left_joint_position" joint="RevoluteJoint_chest_of_drawers_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_kitchen_base_cabinet_4.xml

@@ -0,0 +1,47 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_kitchen_base_cabinet_4">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_68_visual_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_door_1_68_visual_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_1_68_collision_0_E_door_1_68_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_door_1_68_collision_0_E_door_1_68_combined.obj" />
+    <mesh name="E_door_2_71_visual_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_door_2_71_visual_0_E_door_2_71_combined.obj" />
+    <mesh name="E_door_2_71_collision_0_E_door_2_71_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_door_2_71_collision_0_E_door_2_71_combined.obj" />
+    <mesh name="E_drawer_1_56_visual_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_drawer_1_56_visual_0_E_drawer_1_56_combined.obj" />
+    <mesh name="E_drawer_1_56_collision_0_E_drawer_1_56_combined" file="meshes/kitchen_kitchen_base_cabinet_4/E_drawer_1_56_collision_0_E_drawer_1_56_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="12" pos="-0.0010502 0 0.4500166" fullinertia="3.59138328331 3.58976551835 0.70063233504 0 0.00567128919984 0" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_68">
+        <joint name="RevoluteJoint_chest_of_drawers_4_right_joint" type="hinge" pos="-0.28906258 0.26337678 0.64722935" axis="0 0 1" limited="true" range="0 3.05432619099" damping="10" />
+        <inertial mass="1.5" pos="-0.1482552 0.2819846 0.3755822" fullinertia="0.369688475391 0.294237449926 0.163234188446 0.0627041194909 0.0835142111342 -0.158828145151" />
+        <geom name="E_door_1_68_visual_0" type="mesh" mesh="E_door_1_68_visual_0_E_door_1_68_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_68_collision_0" type="mesh" mesh="E_door_1_68_collision_0_E_door_1_68_combined" group="3" />
+      </body>
+      <body name="E_door_2_71">
+        <joint name="RevoluteJoint_chest_of_drawers_4_left_joint" type="hinge" pos="-0.19520184 0.70669216 1.20647141" axis="0 0 1" limited="true" range="-3.05432619099 0" damping="10" />
+        <inertial mass="1.5" pos="0.1491284 0.282374 0.3797712" fullinertia="0.375811750338 0.300374276054 0.163914003344 -0.0631649742324 -0.0849520071331 -0.160856269243" />
+        <geom name="E_door_2_71_visual_0" type="mesh" mesh="E_door_2_71_visual_0_E_door_2_71_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_2_71_collision_0" type="mesh" mesh="E_door_2_71_collision_0_E_door_2_71_combined" group="3" />
+      </body>
+      <body name="E_drawer_1_56">
+        <joint name="PrismaticJoint_chest_of_drawers_4_up_joint" type="slide" pos="-0.02403459 0.29372048 0.74363063" axis="0 -1 0" limited="true" range="-0.25 0" damping="10" />
+        <inertial mass="3" pos="-0.003009 0.061242 0.7334644" fullinertia="1.75842602589 1.71321586045 0.233564809935 0.000628621154 0.0067409402388 -0.137174742354" />
+        <geom name="E_drawer_1_56_visual_0" type="mesh" mesh="E_drawer_1_56_visual_0_E_drawer_1_56_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_drawer_1_56_collision_0" type="mesh" mesh="E_drawer_1_56_collision_0_E_drawer_1_56_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="PrismaticJoint_chest_of_drawers_4_up_joint_position" joint="PrismaticJoint_chest_of_drawers_4_up_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_right_joint_position" joint="RevoluteJoint_chest_of_drawers_4_right_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_chest_of_drawers_4_left_joint_position" joint="RevoluteJoint_chest_of_drawers_4_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_pantry_cabinet_0.xml

@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_pantry_cabinet_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
+  <asset>
+    <mesh name="E_body_1_visual_0_E_body_1_combined" file="meshes/kitchen_pantry_cabinet_0/E_body_1_visual_0_E_body_1_combined.obj" />
+    <mesh name="E_body_1_collision_0_E_body_1_combined" file="meshes/kitchen_pantry_cabinet_0/E_body_1_collision_0_E_body_1_combined.obj" />
+    <mesh name="E_door_1_16_visual_0_E_door_1_16_combined" file="meshes/kitchen_pantry_cabinet_0/E_door_1_16_visual_0_E_door_1_16_combined.obj" />
+    <mesh name="E_door_1_16_collision_0_E_door_1_16_combined" file="meshes/kitchen_pantry_cabinet_0/E_door_1_16_collision_0_E_door_1_16_combined.obj" />
+    <mesh name="E_door_2_36_visual_0_E_door_2_36_combined" file="meshes/kitchen_pantry_cabinet_0/E_door_2_36_visual_0_E_door_2_36_combined.obj" />
+    <mesh name="E_door_2_36_collision_0_E_door_2_36_combined" file="meshes/kitchen_pantry_cabinet_0/E_door_2_36_collision_0_E_door_2_36_combined.obj" />
+  </asset>
+  <worldbody>
+    <body name="E_body_1">
+      <inertial mass="35" pos="-0.00029 -0.05509 0.95135" fullinertia="48.506180773 51.3439151321 4.32186236618 -0.0013991033154 0.00924983699381 1.92352063962" />
+      <geom name="E_body_1_visual_0" type="mesh" mesh="E_body_1_visual_0_E_body_1_combined" contype="0" conaffinity="0" group="2" />
+      <geom name="E_body_1_collision_0" type="mesh" mesh="E_body_1_collision_0_E_body_1_combined" group="3" />
+      <body name="E_door_1_16">
+        <joint name="RevoluteJoint_double_door_1_right_joint" type="hinge" pos="-0.44021355 0.19566715 1.9866436" axis="0 0 1" limited="true" range="0 1.57079632679" damping="10" />
+        <inertial mass="5" pos="-0.22121 0.20743 1.02183" fullinertia="6.98901788029 7.0975617942 0.541938182992 0.2294279515 1.1301950715 -1.0597909845" />
+        <geom name="E_door_1_16_visual_0" type="mesh" mesh="E_door_1_16_visual_0_E_door_1_16_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_1_16_collision_0" type="mesh" mesh="E_door_1_16_collision_0_E_door_1_16_combined" group="3" />
+      </body>
+      <body name="E_door_2_36">
+        <joint name="RevoluteJoint_double_door_1_left_joint" type="hinge" pos="0.44068645 0.19559915 1.9866436" axis="0 0 1" limited="true" range="-1.57079632679 0" damping="10" />
+        <inertial mass="5" pos="0.21735 0.18459 1.01836" fullinertia="7.1634262787 7.3616806423 0.539966450019 -0.20150905415 -1.11060113167 -0.941561404682" />
+        <geom name="E_door_2_36_visual_0" type="mesh" mesh="E_door_2_36_visual_0_E_door_2_36_combined" contype="0" conaffinity="0" group="2" />
+        <geom name="E_door_2_36_collision_0" type="mesh" mesh="E_door_2_36_collision_0_E_door_2_36_combined" group="3" />
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <position name="RevoluteJoint_double_door_1_right_joint_position" joint="RevoluteJoint_double_door_1_right_joint" kp="100" kv="10" />
+    <position name="RevoluteJoint_double_door_1_left_joint_position" joint="RevoluteJoint_double_door_1_left_joint" kp="100" kv="10" />
+  </actuator>
+</mujoco>

home/articulated_objects/kitchen_stove_0.xml

@@ -0,0 +1,38 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="kitchen_stove_0">
+  <compiler angle="radian" boundmass="0.001" boundinertia="0.001" />
+  <default>
+    <geom friction="0.8 0.1 0.1" />
+  </default>
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home/floor_plans/bathroom_1/walls/east_wall/wall.gltf

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