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- assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/box.xml +19 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/material.mtl +9 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/plate.xml +28 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/ramekin.xml +43 -0
- assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/target_bowl.xml +58 -0
- assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/box.xml +19 -0
- assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/material.mtl +9 -0
- assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/plate.xml +28 -0
- assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/ramekin.xml +43 -0
- assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/target_bowl.xml +58 -0
- assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/box.xml +19 -0
- assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/material.mtl +9 -0
- assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/plate.xml +28 -0
- assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/ramekin.xml +43 -0
- assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/target_bowl.xml +58 -0
- assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/box.xml +19 -0
- assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/material.mtl +9 -0
- assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/plate.xml +28 -0
- assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/ramekin.xml +43 -0
- assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/target_bowl.xml +58 -0
- assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/box.xml +19 -0
- assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/material.mtl +9 -0
- assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/plate.xml +28 -0
- assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/ramekin.xml +43 -0
- assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/target_bowl.xml +58 -0
- assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/box.xml +19 -0
- assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/material.mtl +9 -0
- assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/plate.xml +28 -0
- assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/ramekin.xml +43 -0
- assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/target_bowl.xml +58 -0
- assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/box.xml +19 -0
- assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/material.mtl +9 -0
- assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/plate.xml +28 -0
- assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/ramekin.xml +43 -0
- assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/target_bowl.xml +58 -0
- assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/box.xml +19 -0
- assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/material.mtl +9 -0
- assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/plate.xml +28 -0
- assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/ramekin.xml +43 -0
- assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/target_bowl.xml +58 -0
- assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/box.xml +19 -0
- assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/material.mtl +9 -0
- assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/plate.xml +28 -0
- assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/ramekin.xml +43 -0
- assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/target_bowl.xml +58 -0
assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/box.xml
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<mujoco model="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_box">
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<asset>
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<texture name="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_box" type="2d" file="texture.png" />
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<material name="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_box" texture="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_visual" file="visual.obj" scale="0.5692750387 1.497415519 0.1362269279" refpos="-8.231261801e-11 -1.112747664e-08 1.009633007e-06" />
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</asset>
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<worldbody>
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<body>
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<body name="object">
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<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_box" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
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</body>
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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</body>
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</worldbody>
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</mujoco>
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assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/material.mtl
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# Base-color material converted from the source USD PreviewSurface
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newmtl sceneforge_material
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Ka 1.000000 1.000000 1.000000
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Kd 1.000000 1.000000 1.000000
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Ks 0.150000 0.150000 0.150000
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Ns 48.000000
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d 1.000000
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illum 2
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map_Kd texture.png
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assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/plate.xml
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<mujoco model="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_plate">
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<asset>
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<texture name="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_plate" type="2d" file="texture.png" />
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<material name="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_plate" texture="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_visual" file="visual.obj" scale="1.273051218 2.453038276 0.1129723254" refpos="-1.17646556e-06 -3.057655659e-06 -0.07352685603" />
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</asset>
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<worldbody>
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<body>
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<body name="object">
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<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_plate" />
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| 12 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 14 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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</body>
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
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| 26 |
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</body>
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</worldbody>
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</mujoco>
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assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/ramekin.xml
ADDED
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<mujoco model="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_ramekin">
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<asset>
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<texture name="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_ramekin" type="2d" file="texture.png" />
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| 4 |
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<material name="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_ramekin" texture="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_visual" file="visual.obj" scale="0.8225588507 1.587517093 0.2940171143" refpos="4.923874846e-05 2.17323238e-05 -0.07369639132" />
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</asset>
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<worldbody>
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| 8 |
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<body>
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<body name="object">
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<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_visual" conaffinity="0" contype="0" group="1" material="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_ramekin" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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</body>
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|
| 41 |
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</body>
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| 42 |
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</worldbody>
|
| 43 |
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</mujoco>
|
assets/libero_runtime/small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_target_bowl" texture="tex_small_002_bedroom_asset_000006_alarm_clock_001_alarm_clock_dfd09193_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 7 |
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|
| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 43 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 44 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_box" texture="tex_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_visual" file="visual.obj" scale="0.1703189195 0.1961455054 0.3222612725" refpos="-2.751222174e-10 -8.49494674e-08 4.267940788e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_visual" conaffinity="0" contype="0" group="1" material="mat_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
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|
|
|
|
| 1 |
+
<mujoco model="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_plate" texture="tex_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_visual" file="visual.obj" scale="0.3808786494 0.3213219219 0.2672496979" refpos="-3.932225965e-06 -2.334277824e-05 -0.03108141925" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_visual" conaffinity="0" contype="0" group="1" material="mat_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_ramekin" texture="tex_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_visual" file="visual.obj" scale="0.2460978001 0.2079478531 0.6955330405" refpos="0.0001645759057 0.0001659090728 -0.03115308554" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_visual" conaffinity="0" contype="0" group="1" material="mat_small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_ramekin" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 14 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 15 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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assets/libero_runtime/small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e/target_bowl.xml
ADDED
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| 1 |
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<mujoco model="small_003_living_room_asset_000047_obj_001_closed_book_blue_hardcover_a88a6f7e_target_bowl">
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_box" texture="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_visual" file="visual.obj" scale="0.347055823 1.112751819 0.2048231995" refpos="-1.350172384e-10 -1.497409928e-08 6.715020721e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
| 1 |
+
<mujoco model="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_plate" texture="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_visual" file="visual.obj" scale="0.7761096273 1.822889351 0.1698588781" refpos="-1.929754331e-06 -4.114647091e-06 -0.04890235939" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
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+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 17 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 20 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 21 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 22 |
+
</body>
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| 23 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_ramekin" texture="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_visual" file="visual.obj" scale="0.5014690957 1.179707643 0.4420677101" refpos="8.076623004e-05 2.924490293e-05 -0.0490151165" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_visual" conaffinity="0" contype="0" group="1" material="mat_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_ramekin" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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assets/libero_runtime/small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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| 1 |
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<mujoco model="small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_target_bowl">
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| 2 |
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<asset>
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<texture name="tex_small_004_hallway_asset_000050_obj_003_wood_handle_scrub_brush_2a531cfc_target_bowl" type="2d" file="texture.png" />
|
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assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/box.xml
ADDED
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@@ -0,0 +1,19 @@
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| 1 |
+
<mujoco model="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_box">
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| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_box" texture="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" file="visual.obj" scale="0.8251758588 1.11048619 0.5129446271" refpos="-5.678609996e-11 -1.500464964e-08 2.681365505e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/material.mtl
ADDED
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@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
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| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_plate" texture="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" file="visual.obj" scale="1.845313883 1.81917784 0.4253824717" refpos="-8.116239348e-07 -4.123041849e-06 -0.01952713254" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_ramekin" texture="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" file="visual.obj" scale="1.192315946 1.177305688 1.107082875" refpos="3.396898993e-05 2.930456876e-05 -0.01957215742" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
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| 11 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_ramekin" />
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| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 14 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 15 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 16 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 17 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 19 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 21 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 23 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 24 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 25 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 26 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01724 0.03413 0.02166" quat="0.52256 -0.06352 0.03908 0.84934" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02979 0.02397 0.02166" quat="0.33139 -0.07035 0.02478 0.94054" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 29 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03632 0.01194 0.02166" quat="0.15768 -0.07364 0.01179 0.98467" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 30 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02820 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 31 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00057 -0.02674 0.00413" quat="0.70707 -0.00752 0.70707 0.00752" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00087 0.02673 0.00413" quat="0.01150 -0.70701 0.01150 0.70701" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 33 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03172 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 37 |
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</body>
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| 38 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 39 |
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|
| 41 |
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</body>
|
| 42 |
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</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_target_bowl" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_target_bowl" texture="tex_small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_small_bowl_001_small_bowl_4747acdb_visual" file="visual.obj" scale="1.502890325 1.477526399 1.345204086" refpos="3.493730991e-06 8.291599581e-06 -0.01956632521" />
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| 6 |
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</asset>
|
| 7 |
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<worldbody>
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| 8 |
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<body>
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| 49 |
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| 50 |
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| 52 |
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</body>
|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
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|
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|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_box" texture="tex_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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|
| 6 |
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|
| 7 |
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<worldbody>
|
| 8 |
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<body>
|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_plate" texture="tex_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_visual" file="visual.obj" scale="6.04971052 1.375352932 1.590665938" refpos="-2.475657157e-07 -5.453543008e-06 -0.005222026639" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_ramekin" texture="tex_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_visual" file="visual.obj" scale="3.908910233 0.8900783608 4.139801561" refpos="1.036139638e-05 3.876112151e-05 -0.00523406738" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_visual" conaffinity="0" contype="0" group="1" material="mat_small_006_cafe_asset_000011_spoon_001_spoon_6763cb68_ramekin" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00000 0.00413" quat="0.50000 0.50000 -0.50000 0.50000" size="0.00319 0.02436 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.03824 0.02166" quat="0.05274 -0.70514 -0.70514 -0.05274" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00103 0.03822 0.02166" quat="0.69559 -0.05345 0.05203 0.71456" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03823 0.00069 0.02166" quat="0.99717 -0.00067 0.07458 0.00894" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03823 -0.00043 0.02166" quat="0.00560 0.07459 0.00042 -0.99720" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03485 -0.01573 0.02166" quat="0.07291 -0.20986 0.97488 0.01570" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02624 -0.02782 0.02166" quat="0.39505 0.06848 0.02954 -0.91563" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01352 -0.03577 0.02166" quat="0.56692 0.06136 0.04240 -0.82039" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01660 -0.03444 0.02166" quat="0.03967 -0.84445 0.53042 0.06316" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02949 -0.02434 0.02166" quat="0.02522 -0.93844 0.33729 0.07018" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 23 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03627 -0.01210 0.02166" quat="0.01195 -0.98432 0.15984 0.07362" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 24 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03436 0.01678 0.02166" quat="0.97159 -0.01680 0.07267 0.22462" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 25 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02540 0.02858 0.02166" quat="0.03056 0.90972 0.40847 -0.06804" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 26 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01202 0.03630 0.02166" quat="0.04367 0.80841 0.58388 -0.06046" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 27 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01724 0.03413 0.02166" quat="0.52256 -0.06352 0.03908 0.84934" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 28 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02979 0.02397 0.02166" quat="0.33139 -0.07035 0.02478 0.94054" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 29 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03632 0.01194 0.02166" quat="0.15768 -0.07364 0.01179 0.98467" size="0.00260 0.00948 0.02085" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 30 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02820 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 31 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00057 -0.02674 0.00413" quat="0.70707 -0.00752 0.70707 0.00752" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00087 0.02673 0.00413" quat="0.01150 -0.70701 0.01150 0.70701" size="0.00319 0.00373 0.02436" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 33 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03172 0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 34 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03291 -0.00000 0.00413" quat="0.50000 0.50000 0.50000 -0.50000" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 35 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00038 -0.03290 0.00413" quat="0.00404 -0.70710 0.00404 0.70710" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 36 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00085 0.03290 0.00413" quat="0.70705 0.00914 0.70705 -0.00914" size="0.00319 0.00373 0.01209" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 37 |
+
</body>
|
| 38 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 39 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 40 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 41 |
+
</body>
|
| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_006_cafe_asset_000011_spoon_001_spoon_6763cb68/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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| 49 |
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| 50 |
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| 51 |
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| 52 |
+
</body>
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| 53 |
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| 54 |
+
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| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
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assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
|
| 1 |
+
<mujoco model="small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_box" texture="tex_small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_visual" file="visual.obj" scale="1.247730162 0.4327789242 0.203326863" refpos="-3.755501006e-11 -3.850108054e-08 6.764438347e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_visual" conaffinity="0" contype="0" group="1" material="mat_small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
|
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|
|
|
|
|
| 1 |
+
<mujoco model="small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_plate">
|
| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_plate" type="2d" file="texture.png" />
|
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assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/ramekin.xml
ADDED
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assets/libero_runtime/small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
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<mujoco model="small_007_workshop_asset_000051_obj_002_yellow_tape_measure_extended_7b1db27f_target_bowl">
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03222 -0.00910 0.00984" quat="0.85700 0.06550 0.49588 -0.12397" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03348 0.00022 0.00984" quat="0.86591 -0.00473 0.50017 -0.00248" size="0.00071 0.00992 0.01187" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00010 0.04712 0.03367" quat="0.09041 0.70130 0.70130 -0.09041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01724 0.04385 0.03367" quat="0.10558 0.55930 0.81905 -0.07209" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03174 0.03483 0.03367" quat="0.11689 0.40164 0.90683 -0.05176" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04214 0.02108 0.03367" quat="0.22890 -0.12439 0.02951 0.96502" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04689 0.00460 0.03367" quat="0.12768 0.04949 0.99056 -0.00638" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04555 -0.01204 0.03367" quat="0.12679 0.12680 0.01635 -0.98366" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01010 -0.04602 0.03367" quat="0.62080 0.09971 0.08003 -0.77348" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00698 -0.04660 0.03367" quat="0.75082 0.08352 0.09678 -0.64802" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 38 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 40 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 43 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 44 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_box" texture="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_visual" file="visual.obj" scale="0.5378864021 0.9735883073 0.1291838893" refpos="-8.711601301e-11 -1.711447856e-08 1.064677675e-06" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_plate" texture="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_visual" file="visual.obj" scale="1.202857833 1.594914273 0.1071315679" refpos="-1.245118811e-06 -4.70278967e-06 -0.07753550204" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_visual" conaffinity="0" contype="0" group="1" material="mat_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
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| 22 |
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</body>
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| 24 |
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|
| 26 |
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</body>
|
| 27 |
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</worldbody>
|
| 28 |
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|
assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_ramekin">
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| 2 |
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<asset>
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| 3 |
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<texture name="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_ramekin" texture="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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<mesh name="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_visual" file="visual.obj" scale="0.7772046737 1.032170469 0.2788161998" refpos="5.211210086e-05 3.342513327e-05 -0.0777142803" />
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</asset>
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| 7 |
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<worldbody>
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| 8 |
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<body>
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| 9 |
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<body name="object">
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| 10 |
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| 37 |
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</body>
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| 39 |
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| 40 |
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| 41 |
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</body>
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| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
|
|
|
| 1 |
+
<mujoco model="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_target_bowl">
|
| 2 |
+
<asset>
|
| 3 |
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<texture name="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_target_bowl" texture="tex_small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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<mesh name="small_010_retail_store_asset_000057_obj_005_small_brown_cardboard_package_495860b3_visual" file="visual.obj" scale="0.9796508965 1.295380743 0.3387864628" refpos="5.359760834e-06 9.457495288e-06 -0.0776911226" />
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| 6 |
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|
| 7 |
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<worldbody>
|
| 8 |
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<body>
|
| 9 |
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|
| 10 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 48 |
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|
| 49 |
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|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 52 |
+
</body>
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| 53 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
|
| 1 |
+
<mujoco model="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_box" texture="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_visual" file="visual.obj" scale="0.5773389569 2.120930001 0.3998767229" refpos="-8.116292559e-11 -7.856202802e-09 3.439540114e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_visual" conaffinity="0" contype="0" group="1" material="mat_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
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|
|
|
|
|
| 1 |
+
<mujoco model="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_plate" texture="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_visual" file="visual.obj" scale="1.291084295 3.474468114 0.3316158116" refpos="-1.160033407e-06 -2.158761031e-06 -0.02504856407" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_visual" conaffinity="0" contype="0" group="1" material="mat_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 13 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 14 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 24 |
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| 26 |
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| 27 |
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</worldbody>
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| 28 |
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|
assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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| 1 |
+
<mujoco model="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_ramekin">
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| 2 |
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<asset>
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| 3 |
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<texture name="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_ramekin" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_ramekin" texture="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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<mesh name="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_visual" file="visual.obj" scale="0.8342105952 2.248549308 0.863049633" refpos="4.855101167e-05 1.534341959e-05 -0.02510632005" />
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</asset>
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| 7 |
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<worldbody>
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| 8 |
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<body>
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<body name="object">
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</body>
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| 41 |
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</body>
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| 42 |
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| 43 |
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</mujoco>
|
assets/libero_runtime/small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8/target_bowl.xml
ADDED
|
@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_target_bowl">
|
| 2 |
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<asset>
|
| 3 |
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<texture name="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_target_bowl" texture="tex_small_014_hallway_asset_000042_obj_003_wood_handle_clothes_brush_01_5c0042e8_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 47 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 52 |
+
</body>
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| 54 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 55 |
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
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assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/box.xml
ADDED
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@@ -0,0 +1,19 @@
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|
| 1 |
+
<mujoco model="small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_box" type="2d" file="texture.png" />
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| 4 |
+
<material name="mat_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_box" texture="tex_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_visual" file="visual.obj" scale="0.1427536275 1.098176226 1.611416983" refpos="-3.282474822e-10 -1.517284368e-08 8.535295604e-08" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_visual" conaffinity="0" contype="0" group="1" material="mat_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
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| 13 |
+
</body>
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| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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| 1 |
+
# Base-color material converted from the source USD PreviewSurface
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+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
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| 4 |
+
Kd 1.000000 1.000000 1.000000
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| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
| 1 |
+
<mujoco model="small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_plate">
|
| 2 |
+
<asset>
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| 3 |
+
<texture name="tex_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_plate" texture="tex_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
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| 5 |
+
<mesh name="small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_visual" file="visual.obj" scale="0.3192352852 1.799011886 1.336340227" refpos="-4.691526857e-06 -4.169258928e-06 -0.006215857113" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_visual" conaffinity="0" contype="0" group="1" material="mat_small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69_plate" />
|
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 22 |
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</body>
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| 23 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 24 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 25 |
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_028_laboratory_workbench_asset_000092_obj_002_metal_double_ended_lab_spatula_6f092e69/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
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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="box" pos="-0.04214 0.02108 0.03367" quat="0.22890 -0.12439 0.02951 0.96502" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 32 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04689 0.00460 0.03367" quat="0.12768 0.04949 0.99056 -0.00638" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 33 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04555 -0.01204 0.03367" quat="0.12679 0.12680 0.01635 -0.98366" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 34 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03825 -0.02751 0.03367" quat="0.12173 -0.30325 0.94430 0.03909" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 35 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.02576 -0.03946 0.03367" quat="0.11249 -0.47128 0.87267 0.06075" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 36 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01010 -0.04602 0.03367" quat="0.62080 0.09971 0.08003 -0.77348" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 37 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00698 -0.04660 0.03367" quat="0.75082 0.08352 0.09678 -0.64802" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 38 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 39 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 40 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 41 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 43 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 44 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|
assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/box.xml
ADDED
|
@@ -0,0 +1,19 @@
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_box">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_box" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_box" texture="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_box" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" file="visual.obj" scale="0.3451270595 0.5845193406 0.2924627743" refpos="-1.357717905e-10 -2.850625301e-08 4.702793483e-07" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096426132480000003" diaginertia="8.5819183980498445e-06 5.7690986867928576e-06 3.3808339156525061e-06" pos="0 0 0" quat="0.5 -0.5 0.5 0.5" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" conaffinity="0" contype="0" group="1" material="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_box" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.00000 -0.00000" quat="0.00250 -0.00250 0.00250 0.00250" size="0.00940 0.03104 0.04131" group="0" rgba="0.8 0.8 0.8 0.0" />
|
| 13 |
+
</body>
|
| 14 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 15 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 16 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 17 |
+
</body>
|
| 18 |
+
</worldbody>
|
| 19 |
+
</mujoco>
|
assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/material.mtl
ADDED
|
@@ -0,0 +1,9 @@
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|
| 1 |
+
# Base-color material converted from the source USD PreviewSurface
|
| 2 |
+
newmtl sceneforge_material
|
| 3 |
+
Ka 1.000000 1.000000 1.000000
|
| 4 |
+
Kd 1.000000 1.000000 1.000000
|
| 5 |
+
Ks 0.150000 0.150000 0.150000
|
| 6 |
+
Ns 48.000000
|
| 7 |
+
d 1.000000
|
| 8 |
+
illum 2
|
| 9 |
+
map_Kd texture.png
|
assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/plate.xml
ADDED
|
@@ -0,0 +1,28 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_plate">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_plate" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_plate" texture="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_plate" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" file="visual.obj" scale="0.7717963963 0.9575487215 0.2425379491" refpos="-1.94053888e-06 -7.833070212e-06 -0.03424824831" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.011522081577600004" diaginertia="2.7633183715768809e-05 1.5067255829209506e-05 1.2922894455547104e-05" pos="0.00032702718966730847 0.0051381742564787147 0.0064454785964212155" quat="0.5086932128085746 0.49021954074138063 -0.51215700097221462 0.48847847800384181" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" conaffinity="0" contype="0" group="1" material="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_plate" />
|
| 12 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00000 -0.00000 0.00313" quat="0.49356 0.49356 -0.50636 0.50636" size="0.00222 0.02851 0.03057" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 13 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 14 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.04828 0.00696" quat="0.70574 0.12139 0.68790 0.11832" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 15 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03237 0.03583 0.00696" quat="0.70114 0.36036 0.59839 -0.14306" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 16 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04818 0.00314 0.00696" quat="0.59590 0.55892 0.41899 -0.39618" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 17 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03658 -0.03152 0.00696" quat="0.67591 -0.40164 0.59224 0.17629" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 18 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00230 -0.04823 0.00696" quat="0.13507 0.69059 -0.10500 -0.70272" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 19 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03334 -0.03492 0.00696" quat="0.59339 0.15267 0.69911 -0.36855" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 20 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04827 -0.00130 0.00696" quat="0.40827 0.40746 0.58825 -0.56679" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 21 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.03442 0.03386 0.00696" quat="0.60516 -0.15392 0.68136 0.38190" size="0.00254 0.01913 0.02851" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 22 |
+
</body>
|
| 23 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 24 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 25 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 26 |
+
</body>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/ramekin.xml
ADDED
|
@@ -0,0 +1,43 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_ramekin">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_ramekin" type="2d" file="texture.png" />
|
| 4 |
+
<material name="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_ramekin" texture="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_ramekin" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
+
<mesh name="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" file="visual.obj" scale="0.4986821801 0.619690682 0.6312192623" refpos="8.121759702e-05 5.567363928e-05 -0.03432721655" />
|
| 6 |
+
</asset>
|
| 7 |
+
<worldbody>
|
| 8 |
+
<body>
|
| 9 |
+
<body name="object">
|
| 10 |
+
<inertial mass="0.0096595506816000033" diaginertia="1.2177489186546753e-05 7.9949763580717129e-06 7.3694183231094203e-06" pos="-0.0024561743605761711 5.5516008706854162e-05 0.016813865952459157" quat="-0.017143724461028187 0.70831709397178055 0.016559722392262555 0.7054918587009148" />
|
| 11 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" name="visual" type="mesh" mesh="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" conaffinity="0" contype="0" group="1" material="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_ramekin" />
|
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| 37 |
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</body>
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| 38 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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| 39 |
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<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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| 40 |
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<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 41 |
+
</body>
|
| 42 |
+
</worldbody>
|
| 43 |
+
</mujoco>
|
assets/libero_runtime/small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647/target_bowl.xml
ADDED
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@@ -0,0 +1,58 @@
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|
| 1 |
+
<mujoco model="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_target_bowl">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture name="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_target_bowl" type="2d" file="texture.png" />
|
| 4 |
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<material name="mat_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_target_bowl" texture="tex_small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_target_bowl" reflectance="0.1" texrepeat="1 1" texuniform="false" />
|
| 5 |
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<mesh name="small_030_retail_store_asset_000100_obj_001_gray_metal_cash_box_dd02d647_visual" file="visual.obj" scale="0.6285788819 0.7777158908 0.7669875038" refpos="8.353278573e-06 1.575261277e-05 -0.03431698755" />
|
| 6 |
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</asset>
|
| 7 |
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<worldbody>
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| 8 |
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<body>
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| 9 |
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<body name="object" pos="0 -0.1 0">
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| 38 |
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02325 -0.04098 0.03367" quat="0.06445 -0.85651 0.50004 0.11041" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 39 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03631 -0.03003 0.03367" quat="0.93283 0.04342 0.12024 -0.33687" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 40 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04475 -0.01475 0.03367" quat="0.02040 -0.97909 0.15826 0.12620" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 41 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 42 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04708 0.00185 0.03367" quat="0.00238 0.99162 0.01844 -0.12782" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 43 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.04341 0.01832 0.03367" quat="0.02524 0.97229 0.19574 -0.12533" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 44 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.03416 0.03245 0.03367" quat="0.04729 0.92146 0.36683 -0.11878" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 45 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.02067 0.04234 0.03367" quat="0.06760 0.84175 0.52452 -0.10850" size="0.00128 0.00934 0.01875" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 46 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01056 0.04592 0.03367" quat="0.07953 0.77656 0.61693 -0.10010" size="0.00125 0.00444 0.01872" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 47 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.00075 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.01547 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 48 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 -0.02021 0.00417" quat="0.70711 0.00000 0.70711 0.00000" size="0.00258 0.00431 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
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| 49 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.01821 0.00016 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00495 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 50 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.01810 0.00004 0.00417" quat="0.50000 -0.50000 0.50000 0.50000" size="0.00258 0.00453 0.01547" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 51 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00000 0.01490 0.00417" quat="0.00000 0.70711 0.00000 -0.70711" size="0.00258 0.00741 0.01617" group="0" rgba="0.8 0.8 0.8 0.3" />
|
| 52 |
+
</body>
|
| 53 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 54 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 55 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 56 |
+
</body>
|
| 57 |
+
</worldbody>
|
| 58 |
+
</mujoco>
|