diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/.DS_Store
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/model.xml
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index 0000000000000000000000000000000000000000..7f59f52be2bef33f18866248c54b4e787968748b
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/model.xml
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+<mujoco model="model">
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+    <texture type="2d" name="image2" file="visuals/image2.png"/>
+    <texture type="2d" name="image3" file="visuals/image3.png"/>
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+    <material name="blinn1SG" texture="image0" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="blinn2SG" texture="image1" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="blinn3SG" texture="image2" specular="0.5" shininess="0.15999998099999999"/>
+    <material name="blinn4SG" texture="image3" specular="0.5" shininess="0.0"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="0 0 0 1" size="0.01" pos="-0.35 -0.35 -0.49999999999999994" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.35 -0.35 -0.49999999999999994" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.35 0.35 -0.49999999999999994" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.35 -0.35 0.49999999999999994" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <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_1_vis" material="blinn1SG" class="visual"/>
+        <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="blinn4SG" class="visual"/>
+        <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="blinn3SG" class="visual"/>
+        <geom class="collision" type="box" pos="0 0 0" size="0.35 0.35 0.49999999999999994"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_0.obj
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index 0000000000000000000000000000000000000000..55480c92504cafb906d1396dcf065507e89c1220
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+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_0.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ef378454bf8c429ec3dcd0cd587012ca51613136
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_1.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_2.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b01623acce7d87526952b97d9dcfe3d1d518c30
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_2.obj
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+# https://github.com/mikedh/trimesh
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_3.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b8e5e5545bbd1bc356af7f0e041d5bcf8026fd6a
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/aloe/visuals/model_3.obj
@@ -0,0 +1,1512 @@
+# https://github.com/mikedh/trimesh
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..1e9a30dab24fb220b848e128162899046c299b80
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..534bcfd50b33beec85447eacb536f59a146e8f90
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/model.xml
@@ -0,0 +1,32 @@
+<mujoco model="model">
+  <compiler angle="radian"/>
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="dodekaeder_cactus1" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="0 0 0 1" size="0.01" pos="-0.3167211095059213 -0.3225079114885962 -0.5" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.3167211095059213 -0.3225079114885962 -0.5" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.3167211095059213 0.3225079114885962 -0.5" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.3167211095059213 -0.3225079114885962 0.5" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <body name="object">
+        <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="dodekaeder_cactus1" class="visual"/>
+        <geom class="collision" type="box" pos="0 0 0" size="0.3167211095059213 0.3225079114885962 0.5"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/visuals/model_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/visuals/model_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cd09ad78f2a812964960e0cdb981da8f80e31d90
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/dodekaeder/visuals/model_0.obj
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+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..50f9d6676b25d46da74757eba898cbb00a5543fc
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ee974108af4dc75e7720ef7770ab09064ac86b7e
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/model.xml
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+<mujoco model="model">
+  <compiler angle="radian"/>
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
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+    <texture type="2d" name="image4" file="visuals/image4.png"/>
+    <texture type="2d" name="image8" file="visuals/image8.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="flowerpot" texture="image11" specular="0.5" shininess="0.25"/>
+    <material name="ground" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="leaf" texture="image14" specular="0.5" shininess="0.25"/>
+    <material name="stem" texture="image4" specular="0.5" shininess="0.25"/>
+    <material name="stones" texture="image8" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_4.obj" name="model_4_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="0 0 0 1" size="0.01" pos="-0.37013417138315025 -0.3952002266856062 -0.5" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.37013417138315025 -0.3952002266856062 -0.5" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.37013417138315025 0.3952002266856062 -0.5" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.37013417138315025 -0.3952002266856062 0.5" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <body name="object">
+        <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="stem" class="visual"/>
+        <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="leaf" class="visual"/>
+        <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="flowerpot" class="visual"/>
+        <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="stones" class="visual"/>
+        <!-- <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="ground" class="visual"/> -->
+        <geom class="collision" type="box" pos="0 0 0" size="0.37013417138315025 0.3952002266856062 0.5"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..61ececbf8216a94d21c2d31e704e51c93a316232
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_0.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..67dd54276a3551d610b9db22c7f9be6d9e273a8d
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_1.obj
@@ -0,0 +1,84462 @@
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\ No newline at end of file
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_2.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1907028a6e1d7fda8d4b3c439561d40e90f2df9a
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_2.obj
@@ -0,0 +1,2027 @@
+# https://github.com/mikedh/trimesh
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_3.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9a74a5c8c4c313ced4e2199cb6a47358729061d
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_3.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_4.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6efa7567d333da76b38280f9250b7002991ed871
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+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/senecio/visuals/model_4.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..f3531314ec87c86ef4021da868c50394321c40d0
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..54d44e27bbff673cdcd943bcaa237af3ae003116
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/model.xml
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+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d3f2265b940d50c75fd1cd377d215785d95c68f3
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_1.obj
@@ -0,0 +1,11814 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_2.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9976857c87e73c6ba7ac8105e6fea4c2ffe673d1
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/accessories/plants/spikey_in_white_pot/visuals/model_2.obj
@@ -0,0 +1,37458 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..b044b00c1cdbdc3b90d19f2491553d549729c2cb
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa0255ab12c9d87f5bb956adfd0254db4d270fb0
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/basic_sleek_induc/model.xml
@@ -0,0 +1,91 @@
+<mujoco model="model">
+  <compiler angle="radian"/>
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="MI_electric_range_01" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="MI_electric_range_glass" specular="0.5" shininess="1.0" rgba="0.103704 0.103704 0.103704 0.250000"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_center_0.obj" name="knob_rear_center_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+      <body name="object">
+        <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"/>
+        <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"/>
+        <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        <geom class="collision" pos="0 0.02 -0.13" size="0.32 0.275 0.36" type="box"/>
+        <geom class="collision" pos="0 0.27 0.35" size="0.32 0.03 0.15" type="box"/>
+        <geom class="collision" pos="0 0.23 0.37" size="0.32 0.01 0.025" type="box"/>
+        <geom class="collision" pos="-0.025 0.24 0.43" size="0.13 0.01 0.03" type="box"/>
+        <site name="burner_on_front_left" pos="-0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
+        <site name="burner_on_front_right" pos="0.152 -0.10 0.223" size="0.10 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
+        <site name="burner_on_rear_left" pos="-0.192 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
+        <site name="burner_on_rear_right" pos="0.19 0.115 0.223" size="0.07 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
+        <site name="burner_on_rear_center" pos="0.0 0.107 0.223" size="0.065 0.0001" rgba="0.5 0 0 1" type="cylinder"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <body name="knob_rear_center">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_rear_center here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+          <joint pos="0.14 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_center_joint"/>
+          <geom class="collision" pos="0.14 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_center_main"/>
+        </body>
+        <body name="knob_rear_right">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_rear_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+          <joint pos="0.20 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_right_joint"/>
+          <geom class="collision" pos="0.20 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_right_main"/>
+        </body>
+        <body name="knob_front_left">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_front_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+          <joint pos="-0.26 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_front_left_joint"/>
+          <geom class="collision" pos="-0.26 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_front_left_main"/>
+        </body>
+        <body name="knob_front_right">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_front_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+          <joint pos="0.265 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_front_right_joint"/>
+          <geom class="collision" pos="0.265 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_front_right_main"/>
+        </body>
+        <body name="knob_rear_left">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_rear_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+          <joint pos="-0.20 0.22 0.427" axis="0 1 0" type="hinge" damping="1" name="knob_rear_left_joint"/>
+          <geom class="collision" pos="-0.20 0.22 0.427" size="0.01 0.015 0.022" type="box" name="knob_rear_left_main"/>
+        </body>
+        <!-- exterior bounding box points -->
+        <site rgba="1 1 1 1" size="0.01" pos="-0.32 -0.255 -0.50" name="ext_p0"/>
+        <site rgba="1 0 0 1" size="0.01" pos="0.32 -0.255 -0.50" name="ext_px"/>
+        <site rgba="0 1 0 1" size="0.01" pos="-0.32 0.295 -0.50" name="ext_py"/>
+        <site rgba="0 0 1 1" size="0.01" pos="-0.32 -0.255 0.233" name="ext_pz"/>
+        <!-- interior bounding box points -->
+        <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+        <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+        <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+        <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..f01742728b733b8a87c028452f1f11cfe0cc30a9
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d6693eedc0e8661ea6576cfa4ce2559571a1ff7b
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/coil_burners_induc/model.xml
@@ -0,0 +1,74 @@
+<mujoco model="model">
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="Stove" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="0 0 0 1" size="0.01" pos="-0.315 -0.275 -0.49" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.315 -0.275 -0.49" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.315 0.312 -0.49" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.315 -0.275 0.295" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+      <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+      <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+      <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      <body name="object">
+        <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="Stove" class="visual"/>
+        <site name="burner_on_front_left" pos="-0.139 -0.121 0.287" size="0.08 0.0001" rgba="1 0.4 0.4 0.5" type="cylinder"/>
+        <site name="burner_on_front_right" pos="0.139 -0.121 0.287" size="0.08 0.0001" rgba="1 0.4 0.4 0.5" type="cylinder"/>
+        <site name="burner_on_back_left" pos="-0.139 0.122 0.287" size="0.08 0.0001" rgba="1 0.4 0.4 0.5" type="cylinder"/>
+        <site name="burner_on_back_right" pos="0.139 0.122 0.287" size="0.08 0.0001" rgba="1 0.4 0.4 0.5" type="cylinder"/>
+        <!-- Main -->
+        <geom class="collision" type="box" pos="0 0.017 -0.1" size="0.312 0.292 0.39"/>
+        <!-- Oven Handle -->
+        <geom class="collision" type="box" pos="0 -0.29 0.21" size="0.24 0.025 0.015"/>
+        <!-- Back Display Panel -->
+        <geom class="collision" type="box" pos="0 0.295 0.385" size="0.312 0.016 0.12"/>
+        <!-- Control Panel -->
+        <geom class="collision" type="box" pos="0 0.278 0.43" size="0.312 0.01 0.06" axisangle="1 0 0 -10"/>
+        <body name="knob_rear_right">
+          <joint axis="0 0.9848 -0.1736" name="knob_rear_right_joint" damping="1" pos="0.254 0.268 0.45"/>
+          <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="Stove" class="visual"/>
+          <geom class="collision" type="cylinder" pos="0.254 0.268 0.45" size="0.023 0.006 0" axisangle="1 0 0 80"/>
+          <geom class="collision" type="box" pos="0.254 0.258 0.452" size="0.0084 0.006 0.0205" axisangle="1 0 0 -10"/>
+        </body>
+        <body name="knob_front_left">
+          <joint axis="0 0.9848 -0.1736" name="knob_front_left_joint" damping="1" pos="-0.172 0.268 0.45"/>
+          <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="Stove" class="visual"/>
+          <geom class="collision" type="cylinder" pos="-0.172 0.268 0.45" size="0.023 0.006 0" axisangle="1 0 0 80"/>
+          <geom class="collision" type="box" pos="-0.172 0.258 0.452" size="0.0084 0.006 0.0205" axisangle="1 0 0 -10"/>
+        </body>
+        <body name="knob_front_right">
+          <joint axis="0 0.9848 -0.1736" name="knob_front_right_joint" damping="1" pos="0.172 0.268 0.45"/>
+          <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="Stove" class="visual"/>
+          <geom class="collision" type="cylinder" pos="0.172 0.268 0.45" size="0.023 0.006 0" axisangle="1 0 0 80"/>
+          <geom class="collision" type="box" pos="0.172 0.258 0.452" size="0.0084 0.006 0.0205" axisangle="1 0 0 -10"/>
+        </body>
+        <body name="knob_rear_left">
+          <joint axis="0 0.9848 -0.1736" name="knob_rear_left_joint" damping="1" pos="-0.254 0.268 0.45"/>
+          <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"/>
+          <geom class="collision" type="cylinder" pos="-0.254 0.268 0.45" size="0.023 0.006 0" axisangle="1 0 0 80"/>
+          <geom class="collision" type="box" pos="-0.254 0.258 0.452" size="0.0084 0.006 0.0205" axisangle="1 0 0 -10"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..dee87dbef727fe5f8070e2a8ed342d9d2667f32f
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..577a61092f42081bd532c5f686403e35d0385b2f
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/model.xml
@@ -0,0 +1,167 @@
+<mujoco model="model">
+  <asset>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <texture type="2d" name="image21" file="visuals/image21.png"/>
+    <texture type="2d" name="image24" file="visuals/image24.png"/>
+    <texture type="2d" name="image27" file="visuals/image27.png"/>
+    <texture type="2d" name="image4" file="visuals/image4.png"/>
+    <texture type="2d" name="image11" file="visuals/image11.png"/>
+    <texture type="2d" name="image15" file="visuals/image15.png"/>
+    <texture type="2d" name="image18" file="visuals/image18.png"/>
+    <material name="Bronze_Bare" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="Brushed_Aluminium_2" texture="image21" specular="0.5" shininess="0.25"/>
+    <material name="Brushed_chrome" texture="image24" specular="0.5" shininess="0.25"/>
+    <material name="Dirty_Shiny_Plastic" texture="image27" specular="0.5" shininess="0.25"/>
+    <material name="Material.001" specular="0.5" shininess="0.071239044" rgba="0.000000 0.000000 0.000000 1.000000"/>
+    <material name="Stove_black_plastick" texture="image4" specular="0.5" shininess="0.25"/>
+    <material name="oven_colored_metal" texture="image27" specular="0.5" shininess="0.25"/>
+    <material name="plastic_jars" specular="0.5" shininess="0.0375" rgba="0.800000 0.800000 0.800000 0.250000"/>
+    <material name="stainless_steel" texture="image11" specular="0.5" shininess="0.25"/>
+    <material name="stainless_steel_oven_plate" texture="image15" specular="0.5" shininess="0.25"/>
+    <material name="stove_top_grills" texture="image18" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_4.obj" name="model_4_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_5.obj" name="model_5_vis" scale="1 1 1"/>
+    <!-- <mesh file="visuals/model_6.obj" name="model_6_vis" scale="1 1 1"/> -->
+    <mesh file="visuals/model_7.obj" name="model_7_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_8.obj" name="model_8_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_9.obj" name="model_9_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_10.obj" name="model_10_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_oven_left_0.obj" name="knob_oven_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_oven_left_1.obj" name="knob_oven_left_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_center_0.obj" name="knob_rear_center_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_center_1.obj" name="knob_rear_center_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_center_0.obj" name="knob_front_center_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_center_1.obj" name="knob_front_center_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_right_1.obj" name="knob_rear_right_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_oven_right_0.obj" name="knob_oven_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_oven_right_1.obj" name="knob_oven_right_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_left_1.obj" name="knob_front_left_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_right_1.obj" name="knob_front_right_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_left_1.obj" name="knob_rear_left_1_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="0 0 0 1" size="0.01" pos="-0.5 -0.2635 -0.417" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.5 -0.2635 -0.417" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.5 0.3085 -0.417" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.5 -0.2635 0.412" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+      <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+      <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+      <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      <body name="object">
+        <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="Stove_black_plastick" class="visual"/>
+        <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="stove_top_grills" class="visual"/>
+        <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="stainless_steel_oven_plate" class="visual"/>
+        <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="stainless_steel" class="visual"/>
+        <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="plastic_jars" class="visual"/>
+        <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="oven_colored_metal" class="visual"/>
+        <!-- <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.001" class="visual"/> -->
+        <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_7_vis" material="Dirty_Shiny_Plastic" class="visual"/>
+        <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_8_vis" material="Brushed_chrome" class="visual"/>
+        <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_9_vis" material="Brushed_Aluminium_2" class="visual"/>
+        <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_10_vis" material="Bronze_Bare" class="visual"/>
+        <site name="burner_on_front_left" pos="-0.3425 -0.1165 0.418" size="0.04 0.008" rgba="0.3 0.4 1 0.5" type="cylinder"/>
+        <site name="burner_on_front_center" pos="-0.003 -0.12 0.42" size="0.055 0.008" rgba="0.3 0.4 1 0.5" type="cylinder"/>
+        <site name="burner_on_front_right" pos="0.3425 -0.12 0.416" size="0.033 0.008" rgba="0.3 0.4 1 0.5" type="cylinder"/>
+        <site name="burner_on_rear_left" pos="-0.342 0.1475 0.417" size="0.037 0.0072" rgba="0.3 0.4 1 0.5" type="cylinder"/>
+        <site name="burner_on_rear_center" pos="-0.003 0.147 0.42" size="0.05 0.008" rgba="0.3 0.4 1 0.5" type="cylinder"/>
+        <site name="burner_on_rear_right" pos="0.3427 0.1457 0.416" size="0.03 0.008" rgba="0.3 0.4 1 0.5" type="cylinder"/>
+        <!-- Main -->
+        <geom class="collision" type="box" pos="0 0.0225 0.01" size="0.5 0.286 0.427"/>
+        <!-- Upper Handle -->
+        <geom class="collision" type="box" pos="0 -0.285 0.3868" size="0.471 0.025 0.0137"/>
+        <!-- Drawer Handle -->
+        <geom class="collision" type="box" pos="0 -0.285 -0.2" size="0.471 0.025 0.0137"/>
+        <!-- Left Oven Handle -->
+        <geom class="collision" type="box" pos="-0.2565 -0.285 0.1675" size="0.201 0.025 0.0137"/>
+        <!-- Right Oven Handle -->
+        <geom class="collision" type="box" pos="0.25 -0.285 0.1675" size="0.201 0.025 0.0137"/>
+        <!-- Ledge -->
+        <geom class="collision" type="box" pos="0 -0.276 0.23" size="0.49 0.015 0.01"/>
+        <body name="knob_oven_left">
+          <joint axis="0 1 0" name="knob_oven_left_joint" damping="1" pos="-0.1834 -0.268 0.299"/>
+          <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_left_0_vis" material="stainless_steel" class="visual"/>
+          <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_left_1_vis" material="Stove_black_plastick" class="visual"/>
+          <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="-0.1834 -0.268 0.299" size="0.021 0.005 0"/>
+          <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="-0.1834 -0.285 0.299" size="0.017 0.012 0"/>
+          <geom class="collision" type="cylinder" pos="-0.1834 -0.287 0.272" size="0.005 0.011 0"/>
+        </body>
+        <body name="knob_rear_center">
+          <joint axis="0 1 0" name="knob_rear_center_joint" damping="1" pos="-0.0906 -0.268 0.299"/>
+          <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="stainless_steel" class="visual"/>
+          <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_1_vis" material="Stove_black_plastick" class="visual"/>
+          <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="-0.0906 -0.268 0.299" size="0.021 0.005 0"/>
+          <geom class="collision" type="cylinder" axisangle="1 0 0 90" pos="-0.0906 -0.285 0.299" size="0.017 0.012 0"/>
+          <geom class="collision" type="cylinder" pos="-0.0906 -0.287 0.272" size="0.005 0.011 0"/>
+        </body>
+        <body name="knob_front_center">
+          <joint axis="0 1 0" name="knob_front_center_joint" damping="1" pos="0.0037 -0.268 0.299"/>
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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_1_vis" material="Stove_black_plastick" class="visual"/>
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+        <body name="knob_rear_left">
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_center_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_center_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..144d009bb0e332720eaec0de9d7c1aa7b6c465b9
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_center_1.obj
@@ -0,0 +1,9251 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_right_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_right_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7ea1d719d27af452385b0e79889406eed3e1c4c5
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_front_right_1.obj
@@ -0,0 +1,9245 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_left_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_left_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a9eee211096043e8c0a1a581949bcfd369298c94
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_left_0.obj
@@ -0,0 +1,2741 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_right_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_right_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6b42b51024fd36ef5469539c434e1533ecfdc3cb
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_oven_right_0.obj
@@ -0,0 +1,2750 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_center_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_center_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..71674591dd9c10fcdc0ca31ded476b53f692dd8a
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_center_1.obj
@@ -0,0 +1,9242 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_right_1.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_right_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31a61ef13be11ea5b5841ba7ef5527f9a5261f5b
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/knob_rear_right_1.obj
@@ -0,0 +1,9242 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..abeaa16d55ac08d298c3fc91f00fd46e981a57da
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_0.obj
@@ -0,0 +1,27753 @@
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_10.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9851fe9cc79eabdad308de3ee6c24e266e37c70b
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_10.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_2.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41fdfa84cc32caa955d5e8cc5f32b825b48f8d72
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_2.obj
@@ -0,0 +1,29341 @@
+# https://github.com/mikedh/trimesh
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_6.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0235baa6d0f91589014775c64ed909b34a4c37c6
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_6.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_9.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..79289217f9aa5964f6ba29f6c8cc5524637bc635
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/dual_gas/visuals/model_9.obj
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diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/.DS_Store
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index 0000000000000000000000000000000000000000..20254b057e22638d0c918c4925efee41957ef4e4
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/frigidaire_gas/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..08aafb2502a1459da00ac2281dce0d9dc7ce73b0
--- /dev/null
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+        <body name="knob_center">
+          <joint axis="0 0.9962 -0.0872" name="knob_center_joint" damping="1" pos="0.0035 -0.275 0.183"/>
+          <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"/>
+          <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"/>
+          <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"/>
+          <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"/>
+        </body>
+        <!-- exterior bounding box points -->
+        <site rgba="0 0 0 1" size="0.01" pos="-0.32 -0.265 -0.49" name="ext_p0"/>
+        <site rgba="1 0 0 1" size="0.01" pos="0.32 -0.265 -0.49" name="ext_px"/>
+        <site rgba="0 1 0 1" size="0.01" pos="-0.32 0.30 -0.49" name="ext_py"/>
+        <site rgba="0 0 1 1" size="0.01" pos="-0.32 -0.265 0.25" name="ext_pz"/>
+        <!-- interior bounding box points -->
+        <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+        <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+        <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+        <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..a186f5d8fde4b9a88f2b3081a2b6ef21ba38b1fd
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db0473db39bc0c4909cb329d4e6cf586c0c8cfb7
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/simple_gas/model.xml
@@ -0,0 +1,84 @@
+<mujoco model="model">
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="Material.001" specular="0.5" shininess="0.710728455" rgba="0.800000 0.800000 0.800000 1.000000"/>
+    <material name="Material.002" specular="0.5" shininess="0.251715729" rgba="0.800000 0.800000 0.800000 1.000000"/>
+    <material name="Material.003" specular="0.5" shininess="0.907755005" rgba="1.000000 1.000000 1.000000 0.250000"/>
+    <material name="Material.004" specular="0.5" shininess="0.6602714230000001" rgba="0.800000 0.800000 0.800000 1.000000"/>
+    <material name="Material.006" texture="image0" specular="0.5" shininess="0.17053068500000002"/>
+    <material name="Material.007" texture="image0" specular="0.5" shininess="0.005818183"/>
+    <material name="Material.008" texture="image0" specular="0.5" shininess="0.555804565"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_4.obj" name="model_4_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_5.obj" name="model_5_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_6.obj" name="model_6_vis" scale="1 1 1"/>
+    <material name="Material.005" texture="image0" specular="0.5" shininess="0.5597924799999999"/>
+    <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_oven_0.obj" name="knob_oven_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="0 0 0 1" size="0.01" pos="0 0 0" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0 0 0" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="0 0 0" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="0 0 0" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+      <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+      <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+      <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      <body name="object">
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        <body name="knob_rear_right">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_rear_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        </body>
+        <body name="knob_oven">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_oven here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        </body>
+        <body name="knob_front_left">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_front_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        </body>
+        <body name="knob_front_right">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_front_right here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        </body>
+        <body name="knob_rear_left">
+          <!--Add Joint Here-->
+          <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"/>
+          <!--Add Collision Geom(s) for knob_rear_left here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+        </body>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..5a13fbff493e75653b427c97771dc8d862d988f6
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0bf920637cc060cf1bfcfabfd4c8f98c5ba7ab15
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/square_gas/model.xml
@@ -0,0 +1,91 @@
+<mujoco model="model">
+  <compiler angle="radian"/>
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <texture type="2d" name="image4" file="visuals/image4.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="TX_Stove_Small" texture="image0" specular="0.5" shininess="0.25"/>
+    <material name="TX_Stove_Small_Glass" texture="image4" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_right_0.obj" name="knob_rear_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_dummy_0.obj" name="knob_dummy_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_left_0.obj" name="knob_front_left_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_front_right_0.obj" name="knob_front_right_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/knob_rear_left_0.obj" name="knob_rear_left_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <body name="object">
+        <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"/>
+        <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"/>
+        <!-- Burners -->
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <!-- Main -->
+        <geom class="collision" type="box" pos="0 0.06 0" size="0.445 0.335 0.5"/>
+        <!-- Tiny slab above oven door -->
+        <geom class="collision" type="box" pos="0 -0.33 0.445" size="0.445 0.06 0.018"/>
+        <!-- Oven Door (not accurate enough to be turned into a hinge) -->
+        <geom class="collision" type="box" pos="0 -0.307 -0.02" size="0.445 0.033 0.48"/>
+        <!-- Oven Handle -->
+        <geom class="collision" type="box" pos="0 -0.37 0.26" size="0.41 0.03 0.015"/>
+        <body name="knob_rear_right">
+          <joint axis="0 1 0" name="knob_rear_right_joint" damping="1" pos="0.275 -0.34 0.377"/>
+          <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"/>
+          <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="0.275 -0.348 0.375" size="0.032 0.008 0"/> -->
+          <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"/>
+        </body>
+        <body name="knob_dummy">
+          <joint axis="0 1 0" name="knob_dummy_joint" damping="1" pos="0.186 -0.34 0.377"/>
+          <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"/>
+          <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="0.186 -0.348 0.375" size="0.032 0.008 0"/> -->
+          <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"/>
+        </body>
+        <body name="knob_front_left">
+          <joint axis="0 1 0" name="knob_front_left_joint" damping="1" pos="-0.275 -0.34 0.377"/>
+          <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"/>
+          <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="-0.275 -0.348 0.375" size="0.032 0.008 0"/> -->
+          <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"/>
+        </body>
+        <body name="knob_front_right">
+          <joint axis="0 1 0" name="knob_front_right_joint" damping="1" pos="0.365 -0.34 0.377"/>
+          <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"/>
+          <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="0.365 -0.348 0.375" size="0.032 0.008 0"/> -->
+          <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"/>
+        </body>
+        <body name="knob_rear_left">
+          <joint axis="0 1 0" name="knob_rear_left_joint" damping="1" pos="-0.186 -0.34 0.377"/>
+          <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"/>
+          <!-- <geom class="collision" type="cylinder" axisangle="1 0 0 1.57" pos="-0.186 -0.348 0.375" size="0.032 0.008 0"/> -->
+          <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"/>
+        </body>
+        <!-- exterior bounding box points -->
+        <site rgba="0 0 0 1" size="0.01" pos="-0.445 -0.34 -0.4975" name="ext_p0"/>
+        <site rgba="1 0 0 1" size="0.01" pos="0.445 -0.34 -0.4975" name="ext_px"/>
+        <site rgba="0 1 0 1" size="0.01" pos="-0.445 0.395 -0.4975" name="ext_py"/>
+        <site rgba="0 0 1 1" size="0.01" pos="-0.445 -0.34 0.46" name="ext_pz"/>
+        <!-- interior bounding box points -->
+        <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+        <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+        <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+        <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..c050631fc97394637ae2e58d2d3b6a4e74cdebab
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..bb35220e37d1fc6ccf8e63a33be8e2a345a9775c
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/whirlpool_induc/model.xml
@@ -0,0 +1,51 @@
+<mujoco model="model">
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image8" file="visuals/image8.png"/>
+    <texture type="2d" name="image6" file="visuals/image6.png"/>
+    <texture type="2d" name="image4" file="visuals/image4.png"/>
+    <texture type="2d" name="image10" file="visuals/image10.png"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="Mat_Decal" texture="image8" specular="0.5" shininess="0.25"/>
+    <material name="Mat_Doors" texture="image6" specular="0.5" shininess="0.25"/>
+    <material name="Mat_Main" texture="image4" specular="0.5" shininess="0.25"/>
+    <material name="Mat_Pannel" texture="image10" specular="0.5" shininess="0.25"/>
+    <material name="Mat_Transparent" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_1.obj" name="model_1_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_2.obj" name="model_2_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_3.obj" name="model_3_vis" scale="1 1 1"/>
+    <mesh file="visuals/model_4.obj" name="model_4_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="1 1 1 1" size="0.01" pos="-0.315 -0.242 -0.49" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.315 -0.242 -0.49" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.315 0.242 -0.49" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.315 -0.242 0.243" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+      <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+      <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+      <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      <body name="object">
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <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"/>
+        <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..962b4c2528aaf1d5d48d00a64225f790ac44cd03
Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..634f8a01d1a70813f0bba535255ef34ef43af0ba
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/wolf_gas/model.xml
@@ -0,0 +1,35 @@
+<mujoco model="model">
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="end_CucinaGas_A1" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="1 1 1 1" size="0.01" pos="-0.375 -0.275 -0.50" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.375 -0.275 -0.50" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.375 0.35 -0.50" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.375 -0.275 0.375" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+      <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+      <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+      <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      <body name="object">
+        <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"/>
+        <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/.DS_Store b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/.DS_Store
new file mode 100644
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Binary files /dev/null and b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/.DS_Store differ
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/model.xml b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/model.xml
new file mode 100644
index 0000000000000000000000000000000000000000..23e75e6626ae29ef03258300c59b8ea635c77b70
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/model.xml
@@ -0,0 +1,35 @@
+<mujoco model="model">
+  <asset>
+    <texture file="visuals/material_0.png" name="tex-model" type="2d"/>
+    <texture type="2d" name="image0" file="visuals/image0.png"/>
+    <material name="model" reflectance="0.5" texrepeat="1 1" texture="tex-model" texuniform="false"/>
+    <material name="lambert1" texture="image0" specular="0.5" shininess="0.25"/>
+    <mesh file="visuals/model_0.obj" name="model_0_vis" scale="1 1 1"/>
+  </asset>
+  <default>
+    <default class="visual">
+      <geom conaffinity="0" contype="0" group="1" type="mesh"/>
+    </default>
+    <default class="collision">
+      <geom group="0" rgba="0.5 0 0 0.5"/>
+    </default>
+  </default>
+  <worldbody>
+    <body>
+      <!-- exterior bounding box points -->
+      <site rgba="1 1 1 1" size="0.01" pos="-0.50 -0.35 -0.50" name="ext_p0"/>
+      <site rgba="1 0 0 1" size="0.01" pos="0.50 -0.35 -0.50" name="ext_px"/>
+      <site rgba="0 1 0 1" size="0.01" pos="-0.50 0.425 -0.50" name="ext_py"/>
+      <site rgba="0 0 1 1" size="0.01" pos="-0.50 -0.35 0.425" name="ext_pz"/>
+      <!-- interior bounding box points -->
+      <site rgba="0.5 0.5 0.5 1" size="0.01" pos="0 0 0" name="int_p0"/>
+      <site rgba="1 1 0 1" size="0.01" pos="0 0 0" name="int_px"/>
+      <site rgba="0 1 1 1" size="0.01" pos="0 0 0" name="int_py"/>
+      <site rgba="1 0 1 1" size="0.01" pos="0 0 0" name="int_pz"/>
+      <body name="object">
+        <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"/>
+        <!--Add Collision Geom(s) for model here - i.e. <geom class="collision" type="" pos="" size=""/>-->
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/visuals/model_0.obj b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/visuals/model_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0d1bcd6cd9d38bd1a0c91ba0843bea4bb5e8f5ff
--- /dev/null
+++ b/maniskill/data/scene_datasets/robocasa_dataset/assets/fixtures/stoves/zline_gas/visuals/model_0.obj
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