diff --git a/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.mtl b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9813ccd2b1c415c1fe8037b26751fe1392302325
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'basin_faucet_base.blend'
+# Material Count: 2
+
+newmtl Basin_Tap_2_Black_Mtl.002
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+d 1.000000
+illum 1
+
+newmtl Chrome_Tap_2.002
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diff --git a/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.obj b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a427f87ee90a2300d371d274f61bf7872358ee6e
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.obj
@@ -0,0 +1,2916 @@
+# Blender v3.2.2 OBJ File: 'basin_faucet_base.blend'
+# www.blender.org
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diff --git a/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.xml b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fb9b2c3815b55f26b6b66fe637d368f9c211728c
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base.xml
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diff --git a/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base_col.obj b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_base/basin_faucet_base_col.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.mtl b/safelibero/libero/libero/assets/articulated_objects/basin_faucet/basin_faucet_movable/basin_faucet_movable.mtl
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new file mode 100644
index 0000000000000000000000000000000000000000..af75c8cd795c607da917f3261535b64e52dfbdfb
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/stove_knob_base.xml
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diff --git a/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/stove_knob_base_col.obj b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/stove_knob_base_col.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh
new file mode 100644
index 0000000000000000000000000000000000000000..35c6f02defaa7e977b2600730802bdfb21435b7a
Binary files /dev/null and b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh differ
diff --git a/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.mtl b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..629d6eb5f518f79b355f5c3fce6972e30a487cc1
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.mtl
@@ -0,0 +1,12 @@
+# Blender 3.3.0 MTL File: 'stove_knob_button.blend'
+# www.blender.org
+
+newmtl Material.003
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+map_Kd button_dark_texture.png
diff --git a/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.obj b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf1a149774bfd5ac48ec72670148244e4d1a938e
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.xml b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.xml
new file mode 100644
index 0000000000000000000000000000000000000000..663288fa6905bb924da023ddf2f3545ebc943375
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button.xml
@@ -0,0 +1,15 @@
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diff --git a/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button_col.obj b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1c9ffd7e0409b6d427716927623e2459d9fd1582
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/flat_stove/stove_knob_button/stove_knob_button_col.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base.xml b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9017625db77f6da9188f72ffabb446774662ad57
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base.xml
@@ -0,0 +1,15 @@
+<mujoco model="base_vis">
+  <asset>
+  <texture file="dark-wood.png" name="tex-base_vis" type="2d"/>
+  <material name="base_vis" reflectance="0.5" texrepeat="1 1" texture="tex-base_vis" texuniform="false" />
+  <mesh file="visual/base_vis_vis.msh" name="base_vis_vis" scale="0.05 0.05 0.05" /></asset>
+  <worldbody>
+    <body>
+      <body name="object">
+      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="base_vis_vis" conaffinity="0" contype="0" group="1" material="base_vis" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00083 -0.02512 -0.00000" quat="0.00000 -0.70711 0.70711 0.00000" size="0.00107 0.09310 0.09842" group="0" rgba="0.8 0.8 0.8 0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00083 0.02172 -0.00000" quat="0.00000 0.70711 0.70711 0.00000" size="0.00107 0.09310 0.09842" group="0" rgba="0.8 0.8 0.8 0" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.09461 0.00621 0.00041" quat="0.00000 0.00000 1.00000 0.00000" size="0.00104 0.07714 0.10110" 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="-0.00000 0.07014 -0.00000" quat="0.00000 0.70711 0.70711 0.00000" size="0.00206 0.09262 0.09428" 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="-0.00000 0.07007 -0.00000" quat="0.00000 0.70711 0.70711 0.00000" size="0.00194 0.09262 0.09830" group="0" rgba="0.8 0.8 0.8 0" /><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 -0.00001 0.00000" quat="0.00000 0.70711 0.70711 0.00000" size="0.07215 0.09270 0.10152" group="0" rgba="0.8 0.8 0.8 0" /></body>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_col.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_col.obj
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index 0000000000000000000000000000000000000000..1a130dc141ae9f1d141e64a86b691ee4a494e54f
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_col.obj
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+# Blender v3.2.2 OBJ File: 'base_col.blend'
+# www.blender.org
+mtllib base_col.mtl
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+o Cube.007
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.mtl b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6d3320726e01b4c86efa72bfb0f65c5054931ff6
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.mtl
@@ -0,0 +1,12 @@
+# Blender 3.3.0 MTL File: 'base.blend'
+# www.blender.org
+
+newmtl dark_wood
+Ns 250.000000
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+Ks 0.500000 0.500000 0.500000
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+Ni 1.450000
+d 1.000000
+illum 2
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6e81834969435175a46c024fa98d1b8812f85e3a
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.obj
@@ -0,0 +1,343 @@
+# Blender 3.3.0
+# www.blender.org
+mtllib base_vis.mtl
+o Cube.023
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.xml b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.xml
new file mode 100644
index 0000000000000000000000000000000000000000..982355a5ba3d51919943d34d4605b8ed8ba6a511
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/base_vis.xml
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+<mujoco model="base_vis">
+  <asset>
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+  <worldbody>
+    <body>
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/visual/base_vis_vis.msh b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/base/visual/base_vis_vis.msh
new file mode 100644
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.mtl b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..05a115df4a7c85854b01aecdacd8723c47c70b0d
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.mtl
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.obj
new file mode 100644
index 0000000000000000000000000000000000000000..75c4edbb7cb03eb5fbbe15b7703ae2224fbe3773
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.xml b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9456933fd47053ee964098675deab3363ad901c3
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high.xml
@@ -0,0 +1,15 @@
+<mujoco model="drawer_high">
+  <asset>
+  <texture file="template.png" name="tex-drawer_high" type="2d" />
+  <material name="drawer_high" reflectance="0.5" texrepeat="1 1" texture="tex-drawer_high" texuniform="false" />
+  <mesh file="visual/drawer_high_vis.msh" name="drawer_high_vis" scale="0.05 0.05 0.05" /></asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high_col.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3fad6e2877d9f92627ef69c576a32b8bd38a3d52
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_high/drawer_high_col.obj
@@ -0,0 +1,373 @@
+# Blender v3.2.2 OBJ File: 'drawer_high_col.blend'
+# www.blender.org
+mtllib drawer_high_col.mtl
+o Cube
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.mtl b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..ccea7e0493e9e42e1d5bb9824a9eca8e4f107919
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'drawer_low.blend'
+# Material Count: 2
+
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b5f7d793529d2c415fa250962ab1ad90900ab917
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.obj
@@ -0,0 +1,3171 @@
+# Blender v3.2.2 OBJ File: 'drawer_low.blend'
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.xml b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3add0b3e46a0ade30c1bc0b68ff6163e42f3af24
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low.xml
@@ -0,0 +1,15 @@
+<mujoco model="drawer_low">
+  <asset>
+  <texture file="template.png" name="tex-drawer_low" type="2d" />
+  <material name="drawer_low" reflectance="0.5" texrepeat="1 1" texture="tex-drawer_low" texuniform="false" />
+  <mesh file="visual/drawer_low_vis.msh" name="drawer_low_vis" scale="0.05 0.05 0.05" /></asset>
+  <worldbody>
+    <body>
+      <body name="object">
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low_col.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5d091cf59300f3e72224719b38a6aaba17462e0
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_low/drawer_low_col.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.mtl b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f2bd1014d48f5dd7c30c41dfec2d9c1eb432c370
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.mtl
@@ -0,0 +1,22 @@
+# Blender MTL File: 'drawer_middle.blend'
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bba74bddbbc62676c3851dd247b9149eb5fef9c
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.obj
@@ -0,0 +1,3171 @@
+# Blender v3.2.2 OBJ File: 'drawer_middle.blend'
+# www.blender.org
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.xml b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6e5f634cbe7e654fb8510b056a09d166d1210ffb
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle.xml
@@ -0,0 +1,15 @@
+<mujoco model="drawer_middle">
+  <asset>
+  <texture file="template.png" name="tex-drawer_middle" type="2d" />
+  <material name="drawer_middle" reflectance="0.5" texrepeat="1 1" texture="tex-drawer_middle" texuniform="false" />
+  <mesh file="visual/drawer_middle_vis.msh" name="drawer_middle_vis" scale="0.05 0.05 0.05" /></asset>
+  <worldbody>
+    <body>
+      <body name="object">
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+</mujoco>
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle_col.obj b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7e842f90d08815eeccbc147e4aa19d1172b29092
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_cabinet/drawer_middle/drawer_middle_col.obj
@@ -0,0 +1,373 @@
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.mtl b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8f64e45e2c17a6da0b600de06bea5f418b28c5f5
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.mtl
@@ -0,0 +1,52 @@
+# Blender 3.3.0 MTL File: 'base.blend'
+# www.blender.org
+
+newmtl black_metal
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+illum 2
+
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.obj b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c9e61548ab14d200cda18e09fa4d0d0222472f43
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.obj
@@ -0,0 +1,8331 @@
+# Blender 3.3.0
+# www.blender.org
+mtllib base.mtl
+o fridge
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.xml b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.xml
new file mode 100644
index 0000000000000000000000000000000000000000..db8cabfbd6c32a85dbd40e9eb8cfaa4ade6f8525
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base.xml
@@ -0,0 +1,15 @@
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base_col.obj b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2e0c2fb092a3fc477ee8eaf629425f1327b62bd5
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/base_col.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/visual/base_layers_vis.msh b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/visual/base_layers_vis.msh
new file mode 100644
index 0000000000000000000000000000000000000000..367ea7631e154f6ad67e34632c6c1f1ff7fff357
Binary files /dev/null and b/safelibero/libero/libero/assets/articulated_objects/short_fridge/base/visual/base_layers_vis.msh differ
diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.mtl b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..f4beff40b6c9aad244d19167b1000289e84efda8
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.mtl
@@ -0,0 +1,32 @@
+# Blender MTL File: 'door.blend'
+# Material Count: 3
+
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.obj b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.obj
new file mode 100644
index 0000000000000000000000000000000000000000..42de189d897dcaf2ef13a55aa8f904e1ac997b42
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.obj
@@ -0,0 +1,265 @@
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+# www.blender.org
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.xml b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.xml
new file mode 100644
index 0000000000000000000000000000000000000000..058703c5fa3d05aa1f204dd1621ec40183d41a83
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door.xml
@@ -0,0 +1,15 @@
+<mujoco model="door">
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+  <texture file="template.png" name="tex-door" type="2d" />
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+  <mesh file="visual/door_vis.msh" name="door_vis" scale="0.1 0.1 0.1" /></asset>
+  <worldbody>
+    <body>
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+      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="door_vis" conaffinity="0" contype="0" group="1" material="door" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.10361 0.10960 0.00634" quat="0.70701 0.70701 -0.01193 0.01193" size="0.00935 0.08040 0.10507" 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="0.11618 0.10960 -0.03715" quat="0.00901 0.00901 0.70705 -0.70705" size="0.00834 0.05988 0.11952" 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="0.12869 0.10960 0.08568" quat="0.03061 0.03061 0.70644 -0.70644" size="0.00399 0.01560 0.11952" 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="0.11706 0.10960 0.09560" quat="0.51180 0.51180 0.48791 -0.48791" size="0.00493 0.01413 0.08979" 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="0.11100 0.10960 0.04481" quat="0.02249 -0.02249 0.70675 0.70675" size="0.00783 0.05623 0.11913" 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="0.11237 0.09813 -0.08471" quat="0.29616 0.29616 0.64210 -0.64210" size="0.01012 0.01105 0.10000" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
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\ No newline at end of file
diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door_col.obj b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..85f5874b8945911091ef113739cd34d514c2dd9e
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/door_col.obj
@@ -0,0 +1,225 @@
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diff --git a/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/visual/door_vis.msh b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/visual/door_vis.msh
new file mode 100644
index 0000000000000000000000000000000000000000..2be7857eb3bdaaa1f3e6423a021600d128b32c4a
Binary files /dev/null and b/safelibero/libero/libero/assets/articulated_objects/short_fridge/door/visual/door_vis.msh differ
diff --git a/safelibero/libero/libero/assets/articulated_objects/white_cabinet.xml b/safelibero/libero/libero/assets/articulated_objects/white_cabinet.xml
new file mode 100644
index 0000000000000000000000000000000000000000..01acc4c96feb075ecd1ffbba452599416f2f6aca
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/white_cabinet.xml
@@ -0,0 +1,109 @@
+<mujoco model="white_cabinet">
+    <compiler angle="radian" meshdir="./" />
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+    <asset>
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+      <material name="white_cabinet_top" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet" texuniform="false"/>      
+      <mesh file="white_cabinet/white_cabinet_top/visual/white_cabinet_top_vis.msh" name="white_cabinet_top_vis" scale="0.05 0.05 0.05"/>
+      <texture file="white_cabinet/white_wood.png" name="tex-white_cabinet_base" type="2d"/>
+      <material name="white_cabinet_base" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet_base" texuniform="false"/>
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+	      <body name="cabinet_middle" pos="0 0.0 0">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="middle_level" type="slide" pos="0 0 0" axis="0 1 0"
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+	      </body>
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+	      <body name="cabinet_bottom" pos="0 0.0 0">
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+                <joint name="bottom_level" type="slide" pos="0 0 0" axis="0 1 0"
+		       limited="true" range="-0.16 0.01" damping="50"/>
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+	      </body>
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+
+	    </body>
+          </body>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 -0.045" name="bottom_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 0.045" name="top_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0.045 0.045 0" name="horizontal_radius_site"/>
+        </body>
+    </worldbody>
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diff --git a/safelibero/libero/libero/assets/articulated_objects/white_cabinet/white_cabinet_middle/visual/white_cabinet_middle_vis.msh b/safelibero/libero/libero/assets/articulated_objects/white_cabinet/white_cabinet_middle/visual/white_cabinet_middle_vis.msh
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diff --git a/safelibero/libero/libero/assets/articulated_objects/white_cabinet/white_cabinet_middle_handle/visual/white_cabinet_middle_handle_vis.msh b/safelibero/libero/libero/assets/articulated_objects/white_cabinet/white_cabinet_middle_handle/visual/white_cabinet_middle_handle_vis.msh
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diff --git a/safelibero/libero/libero/assets/articulated_objects/white_cabinet/white_cabinet_top_handle/visual/white_cabinet_top_handle_vis.msh b/safelibero/libero/libero/assets/articulated_objects/white_cabinet/white_cabinet_top_handle/visual/white_cabinet_top_handle_vis.msh
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet.xml b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet.xml
new file mode 100644
index 0000000000000000000000000000000000000000..25be7cb2b37dafb6272c6b1f9561eb9b841fdf4c
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet.xml
@@ -0,0 +1,109 @@
+<mujoco model="wooden_cabinet">
+    <compiler angle="radian" meshdir="./" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+      <texture file="wooden_cabinet/dark_fine_wood.png" name="tex-wooden_cabinet" type="2d"/>
+      <material name="wooden_cabinet_top" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet" texuniform="false"/>      
+      <mesh file="wooden_cabinet/wooden_cabinet_top/visual/wooden_cabinet_top_vis.msh" name="wooden_cabinet_top_vis" scale="0.05 0.05 0.05"/>
+      <texture file="wooden_cabinet/dark_fine_wood.png" name="tex-wooden_cabinet_base" type="2d"/>
+      <material name="wooden_cabinet_base" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet_base" texuniform="false"/>
+      <mesh file="wooden_cabinet/wooden_cabinet_base/visual/wooden_cabinet_base_vis.msh" name="wooden_cabinet_base_vis" scale="0.05 0.05 0.05"/>
+      <texture file="wooden_cabinet/metal.png" name="tex-wooden_cabinet_handle" type="2d"/>
+      <material name="wooden_cabinet_top_handle" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet_handle" texuniform="false"/>
+      <mesh file="wooden_cabinet/wooden_cabinet_top_handle/visual/wooden_cabinet_top_handle_vis.msh" name="wooden_cabinet_top_handle_vis" scale="0.05 0.05 0.05"/>
+      <material name="wooden_cabinet_middle" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet" texuniform="false"/>
+      <mesh file="wooden_cabinet/wooden_cabinet_middle/visual/wooden_cabinet_middle_vis.msh" name="wooden_cabinet_middle_vis" scale="0.05 0.05 0.05"/>
+      <material name="wooden_cabinet_middle_handle" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet_handle" texuniform="false"/>
+      <mesh file="wooden_cabinet/wooden_cabinet_middle_handle/visual/wooden_cabinet_middle_handle_vis.msh" name="wooden_cabinet_middle_handle_vis" scale="0.05 0.05 0.05"/>
+      <material name="wooden_cabinet_bottom" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet" texuniform="false"/>
+      <mesh file="wooden_cabinet/wooden_cabinet_bottom/visual/wooden_cabinet_bottom_vis.msh" name="wooden_cabinet_bottom_vis" scale="0.05 0.05 0.05"/>
+      <material name="wooden_cabinet_bottom_handle" reflectance="0.5" texrepeat="1 1" texture="tex-wooden_cabinet_handle" texuniform="false"/>
+      <mesh file="wooden_cabinet/wooden_cabinet_bottom_handle/visual/wooden_cabinet_bottom_handle_vis.msh" name="wooden_cabinet_bottom_handle_vis" scale="0.05 0.05 0.05"/>
+    </asset>
+    <worldbody>
+        <body>
+          <body name="object">
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+	      <body name="cabinet_top" pos="0 0.0 0">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="top_level" type="slide" pos="0 0 0" axis="0 1 0"
+		       limited="true" range="-0.16 0.01" damping="50"/>
+		<site type="box" pos="0.00328 0.01128 0.18563"
+		      quat="0.70711 0.00000 0.70711 0.00000"
+		      size="0.02993 0.07561 0.10224" group="0"
+		      rgba="0.8 0.8 0.8 0" name="top_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="wooden_cabinet_top_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_top"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.18309" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" 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="0.00334 0.09077 0.18358" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" 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="-0.10191 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" 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="0.10894 0.01105 0.18358" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" 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="0.00348 0.01048 0.15514" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" 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="mesh" mesh="wooden_cabinet_top_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_top_handle"/>		
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.18393" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" 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="-0.03560 -0.08348 0.18393" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      </body>
+
+	      <body name="cabinet_middle" pos="0 0.0 0">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="middle_level" type="slide" pos="0 0 0" axis="0 1 0"
+		       limited="true" range="-0.16 0.01" damping="50"/>
+		<site name="middle_region" type="box" pos="0.00328 0.01128 0.11690" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 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="mesh" mesh="wooden_cabinet_middle_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_middle_handle"/>
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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="-0.03560 -0.08348 0.11041" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      </body>
+
+	      <body name="cabinet_bottom" pos="0 0.0 0">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="bottom_level" type="slide" pos="0 0 0" axis="0 1 0"
+		       limited="true" range="-0.16 0.01" damping="50"/>
+
+		<site name="bottom_region" type="box" pos="0.00328 0.01128 0.04701" quat="0.70711 0.00000 0.70711 0.00000" size="0.02993 0.07561 0.10224" group="0" rgba="0.8 0.8 0.8 0"/>
+		
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="wooden_cabinet_bottom_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_bottom"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00334 -0.07524 0.04476" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00271 0.03427 0.10934" 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="0.00334 -0.06839 0.04525" quat="0.50000 0.50000 0.50000 0.50000" size="0.00356 0.03214 0.10679" 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="0.10894 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03133 0.08148" 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="-0.10191 0.01105 0.04525" quat="0.70711 0.70711 -0.00115 -0.00115" size="0.00241 0.03165 0.08148" 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="0.00348 0.01048 0.01682" quat="0.70711 0.00000 0.70711 0.00000" size="0.00401 0.08095 0.10696" 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="mesh" mesh="wooden_cabinet_bottom_handle_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_bottom_handle"/>
+<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.00278 -0.10161 0.04114" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00770 0.00817 0.04445" 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="-0.03560 -0.08348 0.04114" quat="0.70711 0.70711 0.00000 -0.00000" size="0.00507 0.00560 0.01057" group="0" rgba="0.8 0.8 0.8 0.3"/>		
+	      </body>
+
+
+	    </body>
+          </body>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 -0.045" name="bottom_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0 0 0.045" name="top_site"/>
+          <site rgba="0 0 0 0" size="0.05" pos="0.045 0.045 0" name="horizontal_radius_site"/>
+        </body>
+    </worldbody>
+</mujoco>
diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/visual/wooden_cabinet_base_vis.msh b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/visual/wooden_cabinet_base_vis.msh
new file mode 100644
index 0000000000000000000000000000000000000000..e8d8a999b50da6c7f2b4896bab59a19749be4f32
Binary files /dev/null and b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/visual/wooden_cabinet_base_vis.msh differ
diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.mtl b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..19ffce7e5647580c08c4424edf3abea218d16f0c
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.mtl
@@ -0,0 +1,22 @@
+# Blender 3.3.0 MTL File: 'wooden_cabinet_base.blend'
+# www.blender.org
+
+newmtl dark_fine_wood
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd /home/yifengz/Downloads/dark_fine_wood.jpeg
+
+newmtl dark_fine_wood.001
+Ns 96.078453
+Ka 1.000000 1.000000 1.000000
+Ks 0.399551 0.399551 0.399551
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd /home/yifengz/Downloads/dark_fine_wood.jpeg
diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.obj b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.obj
new file mode 100644
index 0000000000000000000000000000000000000000..490e9d18a3d4352b0ca33c99d50fad85e91b1d86
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.obj
@@ -0,0 +1,542 @@
+# Blender 3.3.0
+# www.blender.org
+mtllib wooden_cabinet_base.mtl
+o Cube.017
+v -2.136763 2.233298 0.174112
+v -2.146446 2.233317 4.355439
+v -2.139991 2.233305 1.567887
+v -2.143218 2.233311 2.961663
+v -2.136905 2.156291 0.174112
+v -2.146588 2.156309 4.355439
+v -2.143360 2.156303 2.961663
+v -2.140133 2.156297 1.567887
+v 2.305578 2.225112 0.184398
+v 2.295896 2.225131 4.365726
+v 2.302350 2.225119 1.578174
+v 2.299124 2.225125 2.971950
+v 2.305436 2.148104 0.184398
+v 2.295754 2.148123 4.365726
+v 2.298982 2.148117 2.971950
+v 2.302208 2.148111 1.578174
+v 0.084266 2.152197 0.179255
+v 0.084408 2.229205 0.179255
+v 0.077953 2.229218 2.966807
+v 0.074726 2.229224 4.360583
+v 0.074584 2.152216 4.360583
+v 0.081180 2.229212 1.573031
+v 0.077811 2.152210 2.966807
+v 0.081038 2.152204 1.573031
+vn -1.0000 0.0018 -0.0023
+vn 0.0018 1.0000 -0.0000
+vn 0.0023 -0.0000 -1.0000
+vn -0.0018 -1.0000 -0.0000
+vn -0.0023 -0.0000 1.0000
+vn 1.0000 -0.0018 0.0023
+vt 0.961619 1.000000
+vt 0.980811 0.019620
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.xml b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d0933207c5330bab28e2db41f11c17fb5d71969b
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base.xml
@@ -0,0 +1,15 @@
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base_col.obj b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_base/wooden_cabinet_base_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2f8f50ebf2a6eefab21e41b1faeb4d3cec743a6d
--- /dev/null
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/visual/wooden_cabinet_bottom_vis.msh b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/visual/wooden_cabinet_bottom_vis.msh
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.mtl b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.mtl
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.obj b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.xml b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3788246076751e251d0f49c40afcc042353b3e45
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom/wooden_cabinet_bottom.xml
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.mtl b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..c46aae1cb8447f169997118df8deb2199c73d0ee
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.mtl
@@ -0,0 +1,22 @@
+# Blender 3.3.0 MTL File: 'wooden_cabinet_bottom_handle.blend'
+# www.blender.org
+
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+
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+map_Kd metal.png
diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.obj b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1f2cf2263dc8715737bc7b2f0dc2a2ba4fd1a608
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.obj
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diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.xml b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle.xml
new file mode 100644
index 0000000000000000000000000000000000000000..73c403305b30e076202dc8ef4cb2ea2acd705dae
--- /dev/null
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+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
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+</mujoco>
\ No newline at end of file
diff --git a/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle_col.obj b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle_col.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dd2da7097c1cd32be86bf50762fcb6d6b54e5668
--- /dev/null
+++ b/safelibero/libero/libero/assets/articulated_objects/wooden_cabinet/wooden_cabinet_bottom_handle/wooden_cabinet_bottom_handle_col.obj
@@ -0,0 +1,111 @@
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