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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle.mtl

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+# Blender 3.3.0 MTL File: 'wooden_cabinet_middle.blend'
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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle.obj

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle.xml

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_middle/wooden_cabinet_middle_col.obj

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_middle_handle/wooden_cabinet_middle_handle.mtl

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+map_Kd metal.png

safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_middle_handle/wooden_cabinet_middle_handle.obj

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_top/wooden_cabinet_top.mtl

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_top/wooden_cabinet_top.obj

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_top/wooden_cabinet_top.xml

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_top/wooden_cabinet_top_col.obj

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safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_top_handle/wooden_cabinet_top_handle.mtl

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+
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+map_Kd metal.png

safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_top_handle/wooden_cabinet_top_handle.obj

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safelibero/libero/libero/assets/obstacle_objects/alphabet_soup_obstacle/textured.mtl

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safelibero/libero/libero/assets/obstacle_objects/basin_faucet_base_obstacle/basin_faucet_base.mtl

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safelibero/libero/libero/assets/obstacle_objects/basin_faucet_base_obstacle/basin_faucet_base.obj

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safelibero/libero/libero/assets/obstacle_objects/basin_faucet_base_obstacle/basin_faucet_base_col.obj

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+# www.blender.org
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safelibero/libero/libero/assets/obstacle_objects/basin_faucet_base_obstacle/basin_faucet_base_obstacle.xml

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+<mujoco model="basin_faucet_base">
+  <asset>
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+  <material name="basin_faucet_base" reflectance="0.5" texrepeat="1 1" texture="tex-basin_faucet_base" texuniform="false" />
+  <mesh file="visual/basin_faucet_base_vis.msh" name="basin_faucet_base_vis" scale="0.05 0.05 0.05" /></asset>
+  <worldbody>
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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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+  </worldbody>
+</mujoco>

safelibero/libero/libero/assets/obstacle_objects/basket_obstacle/basket.mtl

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+# www.blender.org
+
+newmtl Material.001
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safelibero/libero/libero/assets/obstacle_objects/basket_obstacle/basket_col.obj

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+# www.blender.org
+mtllib basket_col.mtl
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safelibero/libero/libero/assets/obstacle_objects/basket_obstacle/basket_obstacle.xml

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+<mujoco model="basket">
+  <asset>
+  <texture file="texture.png" name="tex-basket" type="2d" />
+  <material name="basket" reflectance="0.5" texrepeat="1 1" texture="tex-basket" texuniform="false" />
+  <mesh file="visual/basket_vis.msh" name="basket_vis" scale="1.0 1.0 1.0" /></asset>
+  <worldbody>
+    <body>
+      <body name="object">
+      <site type="box" pos="-0.00000 -0.00000 0.07185" quat="0.00000 0.00000 0.00000 1.00000" size="0.06108 0.06108 0.06949" group="0" rgba="0.8 0 0 0" name="contain_region"/>
+      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="basket_vis" conaffinity="0" contype="0" group="1" material="basket" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00251 -0.00000 0.01308" quat="0.70880 -0.00000 0.70541 -0.00000" size="0.00850 0.07240 0.07658" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.07265 -0.00000 0.07657" quat="0.02672 -0.02672 0.70660 0.70660" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00047 -0.06855 0.08177" quat="0.51263 -0.49025 0.50956 -0.48704" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00020 0.06909 0.08177" quat="0.48794 -0.51043 -0.48935 0.51177" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.07557 0.00000 0.07657" quat="0.01765 0.01765 -0.70689 0.70689" size="0.00667 0.06368 0.07240" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
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safelibero/libero/libero/assets/obstacle_objects/bbq_sauce_obstacle/bbq_sauce.mtl

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+# Blender MTL File: 'None'
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+
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safelibero/libero/libero/assets/obstacle_objects/bbq_sauce_obstacle/bbq_sauce_obstacle.xml

@@ -0,0 +1,16 @@
+<mujoco model="bbq_sauce">
+  <asset>
+  <texture file="texture_map.png" name="tex-bbq_sauce" type="2d" />
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safelibero/libero/libero/assets/obstacle_objects/box_base/box_base.xml

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safelibero/libero/libero/assets/obstacle_objects/box_base/white_storage_box.mtl

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+# Blender 3.3.0 MTL File: 'white_storage_box.blend'
+# www.blender.org
+
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safelibero/libero/libero/assets/obstacle_objects/box_base/white_storage_box.obj

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+# www.blender.org
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safelibero/libero/libero/assets/obstacle_objects/box_base/white_storage_box_col.obj

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+# www.blender.org
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safelibero/libero/libero/assets/obstacle_objects/box_small_base/box_small_base.xml

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+<mujoco model="white_storage_box">
+  <asset>
+    <texture file="martin_novak_wood_table.png" name="tex-white_storage_box" type="2d" />
+    <material name="white_storage_box" reflectance="0.5" texrepeat="1 1" texture="tex-white_storage_box" texuniform="false" />
+    <!-- scale 的 z 从 0.01 改为 0.005 -->
+    <mesh file="visual/box_vis.msh" name="white_storage_box_vis" scale="0.01 0.01 0.005" />
+  </asset>
+
+  <worldbody>
+    <body>
+      <body name="object">
+
+        <!-- site：z pos 和 size.z 均 ×0.5 -->
+        <site type="box" pos="0.00000 -0.00000 0.07125" quat="1 0 0 0" size="0.06425 0.05826 0.00061" group="0" rgba="0.8 0.8 0.0 0" name="top_side" />
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+
+        <!-- 视觉 mesh -->
+        <geom
+          type="mesh"
+          mesh="white_storage_box_vis"
+          material="white_storage_box"
+          contype="0" conaffinity="0"
+          group="1"
+          solimp="0.998 0.998 0.001" solref="0.001 1"
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+
+        <!-- geom：z pos 和 size.z 均 ×0.5 -->
+        <geom solimp="0.998 0.998 0.001" solref="0.001 1"
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+      <!-- 这些 site 的 z 也等比例缩放 -->
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+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.02" name="top_site" />
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+    </body>
+  </worldbody>
+</mujoco>

safelibero/libero/libero/assets/obstacle_objects/box_small_base/white_storage_box.mtl

@@ -0,0 +1,12 @@
+# Blender 3.3.0 MTL File: 'white_storage_box.blend'
+# www.blender.org
+
+newmtl ceramic.001
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safelibero/libero/libero/assets/obstacle_objects/box_small_base/white_storage_box.obj

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safelibero/libero/libero/assets/obstacle_objects/box_small_base/white_storage_box_col.obj

@@ -0,0 +1,147 @@
+# Blender 3.3.0
+# www.blender.org
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