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  1. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove.xml +67 -0
  2. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/button_dark_texture.png +3 -0
  3. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/metal.png +3 -0
  4. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/steel-scratched.png +3 -0
  5. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_burner/burnerplate.stl +3 -0
  6. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_base/steel-scratched.png +3 -0
  7. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_base/stove_knob_base.mtl +12 -0
  8. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_base/stove_knob_base.obj +3 -0
  9. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_base/stove_knob_base.xml +15 -0
  10. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_base/stove_knob_base_col.obj +3 -0
  11. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh +3 -0
  12. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/button_dark_texture.png +3 -0
  13. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/steel-scratched.png +3 -0
  14. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/stove_knob_button.mtl +12 -0
  15. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/stove_knob_button.obj +3 -0
  16. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/stove_knob_button.xml +15 -0
  17. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/stove_knob_button_col.obj +3 -0
  18. assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/stove_knob_button/visual/stove_knob_button_vis.msh +3 -0
  19. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet.xml +109 -0
  20. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/dark_fine_wood.png +3 -0
  21. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/metal.png +3 -0
  22. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_base/dark_fine_wood.png +3 -0
  23. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_base/visual/wooden_cabinet_base_vis.msh +3 -0
  24. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.mtl +22 -0
  25. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.obj +3 -0
  26. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.xml +15 -0
  27. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base_col.obj +3 -0
  28. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom/dark_fine_wood.png +3 -0
  29. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom/visual/wooden_cabinet_bottom_vis.msh +3 -0
  30. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.mtl +12 -0
  31. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.obj +3 -0
  32. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.xml +15 -0
  33. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom_col.obj +3 -0
  34. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom_handle/dark_fine_wood.png +3 -0
  35. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom_handle/visual/wooden_cabinet_bottom_handle_vis.msh +3 -0
  36. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.mtl +22 -0
  37. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.obj +3 -0
  38. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.xml +15 -0
  39. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle_col.obj +3 -0
  40. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle/dark_fine_wood.png +3 -0
  41. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle/visual/wooden_cabinet_middle_vis.msh +3 -0
  42. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle.mtl +12 -0
  43. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle.obj +3 -0
  44. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle.xml +15 -0
  45. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle_col.obj +3 -0
  46. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle_handle/metal.png +3 -0
  47. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle_handle/visual/wooden_cabinet_middle_handle_vis.msh +3 -0
  48. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle_handle/wooden_cabinet_middle_handle.mtl +22 -0
  49. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle_handle/wooden_cabinet_middle_handle.obj +3 -0
  50. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet_middle_handle/wooden_cabinet_middle_handle.xml +15 -0
assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove.xml ADDED
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+ <mujoco model="flat_stove">
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+ <compiler angle="radian" meshdir="./" />
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+ <size njmax="500" nconmax="100" />
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+ <asset>
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+ <texture file="flat_stove/metal.png" name="tex-stove_knob" type="2d"/>
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+ <material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/>
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+ <mesh file="flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0"/>
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+ <texture file="flat_stove/button_dark_texture.png" name="tex-stove_button" type="2d"/>
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+ <material name="stove_knob_button" reflectance="0.5" texrepeat="1 1" texture="tex-stove_button" texuniform="false"/>
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+ <mesh file="flat_stove/stove_knob_button/visual/stove_knob_button_vis.msh" name="stove_knob_button_vis" scale="1.0 1.0 1.0"/>
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+ <texture file="flat_stove/metal.png" name="tex-stove_metal" type="2d"/>
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+ <material name="stove_knob_metal" reflectance="0.5" texrepeat="1
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+ 1"
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+ texture="tex-stove_metal" texuniform="false" shininess="1.0"/>
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+ <mesh file="./flat_stove/stove_burner/burnerplate.stl" name="burnerplate" scale="0.55 0.55 0.45" />
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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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+ <body name="base" pos="0 0.0 0.0">
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+ <body name="burner" pos="0.15 0 0">
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+ <site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="cook_region"/>
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+ <geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="1" name="base_vis"/>
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+ <geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="0" name="base"/>
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+ <geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="collision_burner"/>
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+ <body name="burner_plate">
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+ <geom pos="0 0 0.025" type="mesh" mesh="burnerplate"
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+ material="stove_knob_metal" group="1" name="burner"
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+ contype="0" conaffinity="0"/>
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+ </body>
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+ <site name="burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder"/>
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+ </body>
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+ <body name="button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
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+ <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
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+ <joint name="button" type="hinge" pos="0 0 0" axis="0 0 1"
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+ limited="true" range="-0.005 2.1" damping="1"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1"
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+ density="100" friction="0.95 0.3 0.1"
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+ type="mesh" mesh="stove_knob_button_vis"
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+ conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0"/>
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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="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" 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="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" 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="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" 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="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3"/>
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+ </body>
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assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/button_dark_texture.png ADDED

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assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove/metal.png ADDED

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+ <asset>
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+ <texture file="steel-scratched.png" name="tex-stove_knob_base" type="2d" />
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+ <material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob_base" texuniform="false" />
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+ <mesh file="visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0" /></asset>
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