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sixpigs1
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dexbench_assets_test

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robotics
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dexterous-manipulation
tactile
maniskill
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  1. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/.DS_Store +0 -0
  2. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/model.xml +44 -0
  3. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_0.obj +0 -0
  4. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_1.obj +0 -0
  5. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_2.obj +282 -0
  6. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_3.obj +1512 -0
  7. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/.DS_Store +0 -0
  8. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/model.xml +32 -0
  9. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/visuals/model_0.obj +0 -0
  10. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/.DS_Store +0 -0
  11. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/model.xml +48 -0
  12. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_0.obj +1719 -0
  13. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_1.obj +0 -0
  14. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_2.obj +2027 -0
  15. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_3.obj +0 -0
  16. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_4.obj +129 -0
  17. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/.DS_Store +0 -0
  18. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/model.xml +39 -0
  19. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_1.obj +0 -0
  20. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_2.obj +0 -0
  21. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/.DS_Store +0 -0
  22. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/model.xml +91 -0
  23. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/.DS_Store +0 -0
  24. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/model.xml +74 -0
  25. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/.DS_Store +0 -0
  26. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/model.xml +167 -0
  27. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_center_1.obj +0 -0
  28. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_right_1.obj +0 -0
  29. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_left_0.obj +2741 -0
  30. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_right_0.obj +2750 -0
  31. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_center_1.obj +0 -0
  32. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_right_1.obj +0 -0
  33. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_0.obj +0 -0
  34. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_10.obj +0 -0
  35. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_2.obj +0 -0
  36. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_6.obj +947 -0
  37. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_9.obj +0 -0
  38. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/.DS_Store +0 -0
  39. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/model.xml +116 -0
  40. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/.DS_Store +0 -0
  41. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/model.xml +84 -0
  42. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/.DS_Store +0 -0
  43. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/model.xml +91 -0
  44. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/.DS_Store +0 -0
  45. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/model.xml +51 -0
  46. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/.DS_Store +0 -0
  47. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/model.xml +35 -0
  48. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/.DS_Store +0 -0
  49. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/model.xml +35 -0
  50. maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/visuals/model_0.obj +0 -0
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/.DS_Store ADDED
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1721
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1909
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1910
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1926
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1927
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1928
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1929
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1930
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1931
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1932
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1933
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1934
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1935
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1936
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1937
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1938
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1939
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1940
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1941
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1942
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1943
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1944
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1945
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1946
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1947
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1950
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1951
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1954
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1955
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1956
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1957
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1958
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1959
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1960
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1961
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1962
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1963
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1964
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1965
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1966
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1967
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1970
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1971
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1972
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1973
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1974
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1975
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1976
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2000
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2008
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2009
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2010
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2011
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2012
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2013
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2014
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2021
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2022
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2023
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2024
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maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/model.xml ADDED
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+ <mujoco model="model">
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+ <compiler angle="radian"/>
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+ <asset>
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+ <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
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+ <material name="cgaxis_models_50_23_01.001" texture="image1" specular="0.5" shininess="0.011455133999999999"/>
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+ <material name="cgaxis_models_50_23_03.001" specular="0.5" shininess="0.011455133999999999" rgba="0.909804 0.909804 0.909804 1.0"/>
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+ <geom group="0" rgba="0.5 0 0 0.5"/>
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+ </default>
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+ <worldbody>
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+ <body>
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+ <!-- exterior bounding box points -->
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+ <site rgba="0 0 0 1" size="0.01" pos="-0.35102372189795433 -0.3429205356284076 -0.5" name="ext_p0"/>
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+ <site rgba="0 1 0 1" size="0.01" pos="-0.35102372189795433 0.3429205356284076 -0.5" name="ext_py"/>
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+ <site rgba="0 0 1 1" size="0.01" pos="-0.35102372189795433 -0.3429205356284076 0.5" name="ext_pz"/>
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+ <!-- interior bounding box points -->
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+ <body name="object">
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="cgaxis_models_50_23_01.001" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_1_vis" material="cgaxis_models_50_23_02.001" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_2_vis" material="cgaxis_models_50_23_03.001" class="visual"/>
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+ </body>
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+ </body>
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+ </worldbody>
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+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_1.obj ADDED
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maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_2.obj ADDED
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maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/model.xml ADDED
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+ <mujoco model="model">
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+ <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
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+ <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
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+ <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
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+ <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
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+ </asset>
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+ <default class="visual">
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+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
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+ <default class="collision">
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+ <geom group="0" rgba="0.5 0 0 0.5"/>
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+ </default>
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+ </default>
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+ <worldbody>
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+ <body name="object">
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="MI_electric_range_glass" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_1_vis" material="MI_electric_range_01" class="visual"/>
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+ <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ <geom class="collision" pos="0 0.02 -0.13" size="0.32 0.275 0.36" type="box"/>
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+ <site name="burner_front_left_place_site" pos="-0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
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+ <site name="burner_front_right_place_site" pos="0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
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+ <site name="burner_rear_left_place_site" pos="-0.192 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
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+ <site name="burner_rear_right_place_site" pos="0.19 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
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+ <site name="burner_rear_center_place_site" pos="0.0 0.107 0.223" size="0.065 0.0001" rgba="0.5 0 0 0" type="cylinder"/>
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+ <body name="knob_rear_center">
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+ <!--Add Joint Here-->
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_center_0_vis" material="MI_electric_range_01" class="visual"/>
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+ <!--Add Collision Geom(s) for knob_rear_center here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ <joint pos="0.14 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_center_joint"/>
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+ <geom class="collision" pos="0.14 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_center_main"/>
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+ </body>
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+ <body name="knob_rear_right">
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+ <!--Add Joint Here-->
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_right_0_vis" material="MI_electric_range_01" class="visual"/>
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+ <!--Add Collision Geom(s) for knob_rear_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ <joint pos="0.20 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_right_joint"/>
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+ <geom class="collision" pos="0.20 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_right_main"/>
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+ </body>
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+ <body name="knob_front_left">
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+ <!--Add Joint Here-->
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_0_vis" material="MI_electric_range_01" class="visual"/>
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+ <!--Add Collision Geom(s) for knob_front_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ <joint pos="-0.26 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_front_left_joint"/>
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+ <geom class="collision" pos="-0.26 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_front_left_main"/>
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+ </body>
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+ <body name="knob_front_right">
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+ <!--Add Joint Here-->
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_0_vis" material="MI_electric_range_01" class="visual"/>
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+ <!--Add Collision Geom(s) for knob_front_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ <joint pos="0.265 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_front_right_joint"/>
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+ <geom class="collision" pos="0.265 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_front_right_main"/>
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+ </body>
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+ <body name="knob_rear_left">
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+ <!--Add Joint Here-->
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_0_vis" material="MI_electric_range_01" class="visual"/>
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+ <!--Add Collision Geom(s) for knob_rear_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ <joint pos="-0.20 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_left_joint"/>
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+ <geom class="collision" pos="-0.20 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_left_main"/>
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+ </body>
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+ <!-- exterior bounding box points -->
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+ <site rgba="1 1 1 1" size="0.01" pos="-0.32 -0.255 -0.50" name="ext_p0"/>
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+ <site rgba="1 0 0 1" size="0.01" pos="0.32 -0.255 -0.50" name="ext_px"/>
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+ <site rgba="0 1 0 1" size="0.01" pos="-0.32 0.295 -0.50" name="ext_py"/>
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+ <site rgba="0 0 1 1" size="0.01" pos="-0.32 -0.255 0.233" name="ext_pz"/>
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+ <!-- interior bounding box points -->
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+ <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
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+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
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+ </body>
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+ </worldbody>
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+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/model.xml ADDED
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+ <mujoco model="model">
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+ <material name="Stove" texture="image0" specular="0.5" shininess="0.25"/>
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+ <body name="knob_front_right">
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+ </body>
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+ <body name="knob_rear_left">
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+ <joint axis="0 0.9848 -0.1736" name="knob_rear_left_joint" damping="1" pos="-0.254 0.268 0.45"/>
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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="mesh" mesh="knob_rear_left_0_vis" material="Stove" class="visual"/>
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maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/model.xml ADDED
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_center_0_vis" material="stainless_steel" class="visual"/>
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+ <body name="knob_rear_right">
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_0_vis" material="stainless_steel" class="visual"/>
143
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_1_vis" material="Stove_black_plastick" class="visual"/>
144
+ <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="-0.3171 -0.268 0.299" size="0.021 0.005 0"/>
145
+ <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="-0.3171 -0.285 0.299" size="0.017 0.012 0"/>
146
+ <geom class="collision" type="cylinder" pos="-0.3171 -0.287 0.272" size="0.005 0.011 0"/>
147
+ </body>
148
+ <body name="knob_front_right">
149
+ <joint axis="0 1 0" name="knob_front_right_joint" damping="1" pos="0.1915 -0.268 0.299"/>
150
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_0_vis" material="stainless_steel" class="visual"/>
151
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_1_vis" material="Stove_black_plastick" class="visual"/>
152
+ <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="0.1915 -0.268 0.299" size="0.021 0.005 0"/>
153
+ <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="0.1915 -0.285 0.299" size="0.017 0.012 0"/>
154
+ <geom class="collision" type="cylinder" pos="0.1915 -0.287 0.272" size="0.005 0.011 0"/>
155
+ </body>
156
+ <body name="knob_rear_left">
157
+ <joint axis="0 1 0" name="knob_rear_left_joint" damping="1" pos="-0.41 -0.268 0.299"/>
158
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_0_vis" material="stainless_steel" class="visual"/>
159
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160
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163
+ </body>
164
+ </body>
165
+ </body>
166
+ </worldbody>
167
+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_center_1.obj ADDED
The diff for this file is too large to render. See raw diff
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_right_1.obj ADDED
The diff for this file is too large to render. See raw diff
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_left_0.obj ADDED
@@ -0,0 +1,2741 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 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1948
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1949
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1950
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1951
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1952
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1953
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1954
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1955
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1956
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1957
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1958
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1959
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1960
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1961
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1962
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1963
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1964
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1965
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1966
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1967
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1968
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1969
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1970
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1971
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1972
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1973
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1974
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1975
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1976
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1977
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
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1986
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1987
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1988
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1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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1998
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1999
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2000
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2001
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2002
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2003
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2004
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2005
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2006
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2007
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2008
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2009
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2010
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2011
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2013
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2014
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2015
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2016
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2017
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2020
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2021
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2022
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2023
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2024
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2027
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2029
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2030
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2031
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2032
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2034
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2035
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2036
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2037
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2038
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2040
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2047
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2048
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2049
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2050
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2051
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2052
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2053
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2054
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2055
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2056
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2057
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2058
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2059
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2060
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2062
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2063
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2064
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2065
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2066
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2067
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2068
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2069
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2070
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2071
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2072
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2073
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2074
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2075
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2077
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2082
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2083
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2084
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2085
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2086
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2087
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2088
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2089
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2090
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2091
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2092
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2093
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2094
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2095
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2096
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2097
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2098
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2099
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2100
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2101
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2102
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2103
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2104
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2105
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1965
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1966
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1967
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1968
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1969
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1970
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1971
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1972
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1973
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1974
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1975
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1976
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1977
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
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1986
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1987
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1988
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1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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1998
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1999
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2000
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2001
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2002
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2003
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2004
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2005
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2006
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2007
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2008
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2009
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2010
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2011
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2012
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2013
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2014
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2015
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2016
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2017
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2018
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2020
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2021
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2023
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2027
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2028
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2030
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2031
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2032
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2033
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2034
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2035
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2036
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2037
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2040
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2048
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2049
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2050
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2051
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2052
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2053
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2054
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2055
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2056
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2057
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2058
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2060
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2061
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2062
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2063
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2064
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2065
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2066
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2067
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2068
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2069
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2070
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2071
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2072
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2073
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2074
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2075
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2076
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2077
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2078
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2080
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2081
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2082
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2083
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2084
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2085
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2086
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2093
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2094
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2095
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2096
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2097
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2098
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2099
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2100
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2101
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2102
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2103
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2104
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2105
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2110
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2111
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2112
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2113
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+ <site name="burner_front_left_place_site" pos="-0.18 -0.125 0.268" size="0.035 0.001" rgba="0.3 0.4 1 0" type="cylinder"/>
56
+ <site name="burner_front_right_place_site" pos="0.181 -0.126 0.268" size="0.050 0.001" rgba="0.3 0.4 1 0" type="cylinder"/>
57
+ <site name="burner_rear_left_place_site" pos="-0.182 0.078 0.268" size="0.039 0.001" rgba="0.3 0.4 1 0" type="cylinder"/>
58
+ <site name="burner_rear_right_place_site" pos="0.181 0.078 0.268" size="0.032 0.001" rgba="0.3 0.4 1 0" type="cylinder"/>
59
+ <site name="burner_center_place_site" pos="0 -0.025 0.268" size="0.035 0.001" rgba="0.3 0.4 1 0" type="cylinder"/>
60
+ <!-- Main -->
61
+ <geom class="collision" type="box" pos="0 0.035 -0.112" size="0.32 0.3 0.38"/>
62
+ <!-- Oven Handle -->
63
+ <geom class="collision" type="box" pos="0 -0.29 0.112" size="0.31 0.03 0.015"/>
64
+ <!-- Control Panel -->
65
+ <geom class="collision" type="box" pos="0 -0.257 0.183" size="0.32 0.012 0.03" axisangle="1 0 0 -0.0873"/>
66
+ <!-- Back Display Panel -->
67
+ <geom class="collision" type="box" pos="0 0.26 0.385" size="0.32 0.05 0.12"/>
68
+ <body name="knob_front_right">
69
+ <joint axis="0 0.9962 -0.0872" name="knob_front_right_joint" damping="1" pos="0.199 -0.275 0.183"/>
70
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_right_0_vis" material="Mat_Decal" class="visual"/>
71
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_right_1_vis" material="Mat_Main" class="visual"/>
72
+ <geom class="collision" type="cylinder" pos="0.199 -0.275 0.183" size="0.018 0.005 0" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 1.484"/>
73
+ <geom class="collision" type="box" pos="0.199 -0.29 0.184" size="0.0065 0.008 0.016" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 -0.0873" name="knob_front_right_main"/>
74
+ </body>
75
+ <body name="knob_front_left">
76
+ <joint axis="0 0.9962 -0.0872" name="knob_front_left_joint" damping="1" pos="-0.199 -0.275 0.183"/>
77
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_0_vis" material="Mat_Decal" class="visual"/>
78
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_1_vis" material="Mat_Main" class="visual"/>
79
+ <geom class="collision" type="cylinder" pos="-0.199 -0.275 0.183" size="0.018 0.005 0" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 1.484"/>
80
+ <geom class="collision" type="box" pos="-0.199 -0.29 0.184" size="0.0065 0.008 0.016" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 -0.0873" name="knob_front_left_main"/>
81
+ </body>
82
+ <body name="knob_rear_right">
83
+ <joint axis="0 0.9962 -0.0872" name="knob_rear_right_joint" damping="1" pos="0.146 -0.275 0.183"/>
84
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_0_vis" material="Mat_Decal" class="visual"/>
85
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_1_vis" material="Mat_Main" class="visual"/>
86
+ <geom class="collision" type="cylinder" pos="0.146 -0.275 0.183" size="0.018 0.005 0" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 1.484"/>
87
+ <geom class="collision" type="box" pos="0.146 -0.29 0.184" size="0.0065 0.008 0.016" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 -0.0873" name="knob_rear_right_main"/>
88
+ </body>
89
+ <body name="knob_rear_left">
90
+ <joint axis="0 0.9962 -0.0872" name="knob_rear_left_joint" damping="1" pos="-0.146 -0.275 0.183"/>
91
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_0_vis" material="Mat_Decal" class="visual"/>
92
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_1_vis" material="Mat_Main" class="visual"/>
93
+ <geom class="collision" type="cylinder" pos="-0.146 -0.275 0.183" size="0.018 0.005 0" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 1.484"/>
94
+ <geom class="collision" type="box" pos="-0.146 -0.29 0.184" size="0.0065 0.008 0.016" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 -0.0873" name="knob_rear_left_main"/>
95
+ </body>
96
+ <body name="knob_center">
97
+ <joint axis="0 0.9962 -0.0872" name="knob_center_joint" damping="1" pos="0.0035 -0.275 0.183"/>
98
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_center_0_vis" material="Mat_Decal" class="visual"/>
99
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_center_1_vis" material="Mat_Main" class="visual"/>
100
+ <geom class="collision" type="cylinder" pos="0.0035 -0.275 0.183" size="0.018 0.005 0" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 1.484"/>
101
+ <geom class="collision" type="box" pos="0.0035 -0.29 0.184" size="0.0065 0.008 0.016" friction="100 0.0001 0.1" solref="0.001 5" solimp="0.999 0.99 0.001 0.5 2" axisangle="1 0 0 -0.0873" name="knob_center_main"/>
102
+ </body>
103
+ <!-- exterior bounding box points -->
104
+ <site rgba="0 0 0 1" size="0.01" pos="-0.32 -0.265 -0.49" name="ext_p0"/>
105
+ <site rgba="1 0 0 1" size="0.01" pos="0.32 -0.265 -0.49" name="ext_px"/>
106
+ <site rgba="0 1 0 1" size="0.01" pos="-0.32 0.30 -0.49" name="ext_py"/>
107
+ <site rgba="0 0 1 1" size="0.01" pos="-0.32 -0.265 0.25" name="ext_pz"/>
108
+ <!-- interior bounding box points -->
109
+ <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
110
+ <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
111
+ <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
112
+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
113
+ </body>
114
+ </body>
115
+ </worldbody>
116
+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/model.xml ADDED
@@ -0,0 +1,84 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="model">
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+ <asset>
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+ <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
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+ <texture type="2d" name="image0" file="visuals/image0.png"/>
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+ <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
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+ <material name="Material.001" specular="0.5" shininess="0.710728455" rgba="0.800000 0.800000 0.800000 1.000000"/>
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+ <material name="Material.002" specular="0.5" shininess="0.251715729" rgba="0.800000 0.800000 0.800000 1.000000"/>
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+ <material name="Material.003" specular="0.5" shininess="0.907755005" rgba="1.000000 1.000000 1.000000 0.250000"/>
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+ <material name="Material.004" specular="0.5" shininess="0.6602714230000001" rgba="0.800000 0.800000 0.800000 1.000000"/>
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+ <material name="Material.006" texture="image0" specular="0.5" shininess="0.17053068500000002"/>
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+ <material name="Material.007" texture="image0" specular="0.5" shininess="0.005818183"/>
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+ <material name="Material.008" texture="image0" specular="0.5" shininess="0.555804565"/>
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+ <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
14
+ <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
15
+ <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
16
+ <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
17
+ <mesh file="visuals/model_4.obj" name="model_4_vis" scale="1 1 1"/>
18
+ <mesh file="visuals/model_5.obj" name="model_5_vis" scale="1 1 1"/>
19
+ <mesh file="visuals/model_6.obj" name="model_6_vis" scale="1 1 1"/>
20
+ <material name="Material.005" texture="image0" specular="0.5" shininess="0.5597924799999999"/>
21
+ <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
22
+ <mesh file="visuals/knob_oven_0.obj" name="knob_oven_0_vis" scale="1 1 1"/>
23
+ <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
24
+ <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
25
+ <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
26
+ </asset>
27
+ <default>
28
+ <default class="visual">
29
+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
30
+ </default>
31
+ <default class="collision">
32
+ <geom group="0" rgba="0.5 0 0 0.5"/>
33
+ </default>
34
+ </default>
35
+ <worldbody>
36
+ <body>
37
+ <!-- exterior bounding box points -->
38
+ <site rgba="0 0 0 1" size="0.01" pos="0 0 0" name="ext_p0"/>
39
+ <site rgba="1 0 0 1" size="0.01" pos="0 0 0" name="ext_px"/>
40
+ <site rgba="0 1 0 1" size="0.01" pos="0 0 0" name="ext_py"/>
41
+ <site rgba="0 0 1 1" size="0.01" pos="0 0 0" name="ext_pz"/>
42
+ <!-- interior bounding box points -->
43
+ <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
44
+ <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
45
+ <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
46
+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
47
+ <body name="object">
48
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="Material.007" class="visual"/>
49
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_1_vis" material="Material.002" class="visual"/>
50
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_2_vis" material="Material.003" class="visual"/>
51
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_3_vis" material="Material.008" class="visual"/>
52
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_4_vis" material="Material.006" class="visual"/>
53
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_5_vis" material="Material.001" class="visual"/>
54
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_6_vis" material="Material.004" class="visual"/>
55
+ <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
56
+ <body name="knob_rear_right">
57
+ <!--Add Joint Here-->
58
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_right_0_vis" material="Material.005" class="visual"/>
59
+ <!--Add Collision Geom(s) for knob_rear_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
60
+ </body>
61
+ <body name="knob_oven">
62
+ <!--Add Joint Here-->
63
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_oven_0_vis" material="Material.005" class="visual"/>
64
+ <!--Add Collision Geom(s) for knob_oven here - i.e. <geom class="collision" type="" pos="" size=""/>-->
65
+ </body>
66
+ <body name="knob_front_left">
67
+ <!--Add Joint Here-->
68
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_0_vis" material="Material.005" class="visual"/>
69
+ <!--Add Collision Geom(s) for knob_front_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
70
+ </body>
71
+ <body name="knob_front_right">
72
+ <!--Add Joint Here-->
73
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_0_vis" material="Material.005" class="visual"/>
74
+ <!--Add Collision Geom(s) for knob_front_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
75
+ </body>
76
+ <body name="knob_rear_left">
77
+ <!--Add Joint Here-->
78
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_0_vis" material="Material.005" class="visual"/>
79
+ <!--Add Collision Geom(s) for knob_rear_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
80
+ </body>
81
+ </body>
82
+ </body>
83
+ </worldbody>
84
+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/model.xml ADDED
@@ -0,0 +1,91 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="model">
2
+ <compiler angle="radian"/>
3
+ <asset>
4
+ <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
5
+ <texture type="2d" name="image0" file="visuals/image0.png"/>
6
+ <texture type="2d" name="image4" file="visuals/image4.png"/>
7
+ <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
8
+ <material name="TX_Stove_Small" texture="image0" specular="0.5" shininess="0.25"/>
9
+ <material name="TX_Stove_Small_Glass" texture="image4" specular="0.5" shininess="0.25"/>
10
+ <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
11
+ <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
12
+ <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
13
+ <mesh file="visuals/knob_dummy_0.obj" name="knob_dummy_0_vis" scale="1 1 1"/>
14
+ <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
15
+ <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
16
+ <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
17
+ </asset>
18
+ <default>
19
+ <default class="visual">
20
+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
21
+ </default>
22
+ <default class="collision">
23
+ <geom group="0" rgba="0.5 0 0 0.5"/>
24
+ </default>
25
+ </default>
26
+ <worldbody>
27
+ <body>
28
+ <body name="object">
29
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="TX_Stove_Small" class="visual"/>
30
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_1_vis" material="TX_Stove_Small_Glass" class="visual"/>
31
+ <!-- Burners -->
32
+ <site name="burner_on_front_left" pos="-0.237 -0.092 0.466" size="0.075 0.005" rgba="0.3 0.4 1.0 0.5" type="cylinder"/>
33
+ <site name="burner_on_front_right" pos="0.246 -0.102 0.454" size="0.05 0.005" rgba="0.3 0.4 1.0 0.5" type="cylinder"/>
34
+ <site name="burner_on_rear_left" pos="-0.242 0.194 0.46" size="0.055 0.005" rgba="0.3 0.4 1 0.5" type="cylinder"/>
35
+ <site name="burner_on_rear_right" pos="0.244 0.193 0.46" size="0.055 0.005" rgba="0.3 0.4 1 0.5" type="cylinder"/>
36
+ <site name="burner_front_left_place_site" pos="-0.237 -0.092 0.50" size="0.075 0.001" rgba="0 0 1 0" type="cylinder"/>
37
+ <site name="burner_front_right_place_site" pos="0.246 -0.102 0.50" size="0.05 0.001" rgba="0 0 1 0" type="cylinder"/>
38
+ <site name="burner_rear_left_place_site" pos="-0.242 0.194 0.50" size="0.055 0.001" rgba="0 0 1 0" type="cylinder"/>
39
+ <site name="burner_rear_right_place_site" pos="0.244 0.193 0.50" size="0.055 0.001" rgba="0 0 1 0" type="cylinder"/>
40
+ <!-- Main -->
41
+ <geom class="collision" type="box" pos="0 0.06 0" size="0.445 0.335 0.5"/>
42
+ <!-- Tiny slab above oven door -->
43
+ <geom class="collision" type="box" pos="0 -0.33 0.445" size="0.445 0.06 0.018"/>
44
+ <!-- Oven Door (not accurate enough to be turned into a hinge) -->
45
+ <geom class="collision" type="box" pos="0 -0.307 -0.02" size="0.445 0.033 0.48"/>
46
+ <!-- Oven Handle -->
47
+ <geom class="collision" type="box" pos="0 -0.37 0.26" size="0.41 0.03 0.015"/>
48
+ <body name="knob_rear_right">
49
+ <joint axis="0 1 0" name="knob_rear_right_joint" damping="1" pos="0.275 -0.34 0.377"/>
50
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_right_0_vis" material="TX_Stove_Small" class="visual"/>
51
+ <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="0.275 -0.348 0.375" size="0.032 0.008 0"/> -->
52
+ <geom class="collision" type="box" pos="0.275 -0.3685 0.377" size="0.012 0.0135 0.028" friction="100 0.001 0.0001" solref="0.001 5" solimp="0.99 0.999 0.001 0.5 2" name="knob_rear_right_main"/>
53
+ </body>
54
+ <body name="knob_dummy">
55
+ <joint axis="0 1 0" name="knob_dummy_joint" damping="1" pos="0.186 -0.34 0.377"/>
56
+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_dummy_0_vis" material="TX_Stove_Small" class="visual"/>
57
+ <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="0.186 -0.348 0.375" size="0.032 0.008 0"/> -->
58
+ <geom class="collision" type="box" pos="0.186 -0.3685 0.377" size="0.012 0.0135 0.028" friction="100 0.001 0.0001" solref="0.001 5" solimp="0.99 0.999 0.001 0.5 2" name="knob_dummy_main"/>
59
+ </body>
60
+ <body name="knob_front_left">
61
+ <joint axis="0 1 0" name="knob_front_left_joint" damping="1" pos="-0.275 -0.34 0.377"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_left_0_vis" material="TX_Stove_Small" class="visual"/>
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+ <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="-0.275 -0.348 0.375" size="0.032 0.008 0"/> -->
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+ <geom class="collision" type="box" pos="-0.275 -0.3685 0.377" size="0.012 0.0135 0.028" friction="100 0.001 0.0001" solref="0.001 5" solimp="0.99 0.999 0.001 0.5 2" name="knob_front_left_main"/>
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+ <body name="knob_front_right">
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+ <joint axis="0 1 0" name="knob_front_right_joint" damping="1" pos="0.365 -0.34 0.377"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_front_right_0_vis" material="TX_Stove_Small" class="visual"/>
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+ <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="0.365 -0.348 0.375" size="0.032 0.008 0"/> -->
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+ <geom class="collision" type="box" pos="0.365 -0.3685 0.377" size="0.012 0.0135 0.028" friction="100 0.001 0.0001" solref="0.001 5" solimp="0.99 0.999 0.001 0.5 2" name="knob_front_right_main"/>
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+ </body>
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+ <body name="knob_rear_left">
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+ <joint axis="0 1 0" name="knob_rear_left_joint" damping="1" pos="-0.186 -0.34 0.377"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="knob_rear_left_0_vis" material="TX_Stove_Small" class="visual"/>
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+ <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="-0.186 -0.348 0.375" size="0.032 0.008 0"/> -->
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+ <geom class="collision" type="box" pos="-0.186 -0.3685 0.377" size="0.012 0.0135 0.028" friction="100 0.001 0.0001" solref="0.001 5" solimp="0.99 0.999 0.001 0.5 2" name="knob_rear_left_main"/>
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+ </body>
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+ <!-- exterior bounding box points -->
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+ <site rgba="0 0 0 1" size="0.01" pos="-0.445 -0.34 -0.4975" name="ext_p0"/>
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+ <site rgba="1 0 0 1" size="0.01" pos="0.445 -0.34 -0.4975" name="ext_px"/>
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+ <site rgba="0 1 0 1" size="0.01" pos="-0.445 0.395 -0.4975" name="ext_py"/>
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+ <site rgba="0 0 1 1" size="0.01" pos="-0.445 -0.34 0.46" name="ext_pz"/>
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+ <!-- interior bounding box points -->
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+ <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
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+ <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
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+ <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
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+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
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+ </body>
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+ </body>
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+ </worldbody>
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+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/model.xml ADDED
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+ <mujoco model="model">
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+ <asset>
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+ <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
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+ <texture type="2d" name="image8" file="visuals/image8.png"/>
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+ <texture type="2d" name="image6" file="visuals/image6.png"/>
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+ <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
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+ <material name="Mat_Decal" texture="image8" specular="0.5" shininess="0.25"/>
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+ <material name="Mat_Doors" texture="image6" specular="0.5" shininess="0.25"/>
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+ <material name="Mat_Main" texture="image4" specular="0.5" shininess="0.25"/>
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+ <material name="Mat_Pannel" texture="image10" specular="0.5" shininess="0.25"/>
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+ <material name="Mat_Transparent" texture="image0" specular="0.5" shininess="0.25"/>
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+ <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
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+ <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
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+ <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
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+ <mesh file="visuals/model_4.obj" name="model_4_vis" scale="1 1 1"/>
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+ </asset>
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+ <default>
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+ <default class="visual">
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+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
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+ </default>
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+ <default class="collision">
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+ <geom group="0" rgba="0.5 0 0 0.5"/>
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+ </default>
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+ </default>
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+ <worldbody>
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+ <body>
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+ <!-- exterior bounding box points -->
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+ <site rgba="1 1 1 1" size="0.01" pos="-0.315 -0.242 -0.49" name="ext_p0"/>
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+ <site rgba="1 0 0 1" size="0.01" pos="0.315 -0.242 -0.49" name="ext_px"/>
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+ <site rgba="0 1 0 1" size="0.01" pos="-0.315 0.242 -0.49" name="ext_py"/>
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+ <site rgba="0 0 1 1" size="0.01" pos="-0.315 -0.242 0.243" name="ext_pz"/>
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+ <!-- interior bounding box points -->
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+ <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
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+ <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
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+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
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+ <body name="object">
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="Mat_Pannel" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_1_vis" material="Mat_Decal" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_2_vis" material="Mat_Doors" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_3_vis" material="Mat_Main" class="visual"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_4_vis" material="Mat_Transparent" class="visual"/>
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+ <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ </body>
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+ </body>
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+ </worldbody>
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+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/model.xml ADDED
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+ <mujoco model="model">
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+ <asset>
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+ <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
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+ <texture type="2d" name="image0" file="visuals/image0.png"/>
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+ <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
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+ <material name="end_CucinaGas_A1" texture="image0" specular="0.5" shininess="0.25"/>
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+ <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
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+ </asset>
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+ <default>
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+ <default class="visual">
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+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
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+ </default>
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+ <default class="collision">
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+ <geom group="0" rgba="0.5 0 0 0.5"/>
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+ </default>
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+ </default>
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+ <worldbody>
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+ <body>
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+ <!-- exterior bounding box points -->
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+ <site rgba="1 1 1 1" size="0.01" pos="-0.375 -0.275 -0.50" name="ext_p0"/>
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+ <site rgba="1 0 0 1" size="0.01" pos="0.375 -0.275 -0.50" name="ext_px"/>
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+ <site rgba="0 1 0 1" size="0.01" pos="-0.375 0.35 -0.50" name="ext_py"/>
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+ <site rgba="0 0 1 1" size="0.01" pos="-0.375 -0.275 0.375" name="ext_pz"/>
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+ <!-- interior bounding box points -->
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+ <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
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+ <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
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+ <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
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+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
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+ <body name="object">
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="end_CucinaGas_A1" class="visual"/>
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+ <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ </body>
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+ </body>
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+ </worldbody>
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+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/.DS_Store ADDED
Binary file (6.15 kB). View file
 
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/model.xml ADDED
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+ <mujoco model="model">
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+ <asset>
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+ <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
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+ <texture type="2d" name="image0" file="visuals/image0.png"/>
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+ <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
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+ <material name="lambert1" texture="image0" specular="0.5" shininess="0.25"/>
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+ <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
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+ </asset>
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+ <default>
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+ <default class="visual">
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+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
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+ </default>
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+ <default class="collision">
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+ <geom group="0" rgba="0.5 0 0 0.5"/>
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+ </default>
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+ <worldbody>
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+ <body>
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+ <!-- exterior bounding box points -->
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+ <site rgba="1 1 1 1" size="0.01" pos="-0.50 -0.35 -0.50" name="ext_p0"/>
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+ <site rgba="1 0 0 1" size="0.01" pos="0.50 -0.35 -0.50" name="ext_px"/>
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+ <site rgba="0 1 0 1" size="0.01" pos="-0.50 0.425 -0.50" name="ext_py"/>
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+ <site rgba="0 0 1 1" size="0.01" pos="-0.50 -0.35 0.425" name="ext_pz"/>
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+ <!-- interior bounding box points -->
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+ <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
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+ <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
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+ <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
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+ <body name="object">
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="model_0_vis" material="lambert1" class="visual"/>
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+ <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
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+ </body>
33
+ </body>
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+ </worldbody>
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+ </mujoco>
maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/visuals/model_0.obj ADDED
The diff for this file is too large to render. See raw diff