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- safelibero/libero/libero/assets/scenes/black_book/black_book.mtl +32 -0
- safelibero/libero/libero/assets/scenes/black_book/black_book.obj +0 -0
- safelibero/libero/libero/assets/scenes/black_book/black_book.xml +15 -0
- safelibero/libero/libero/assets/scenes/black_book/collision/black_book_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/coffee_table_seats/coffee_table_seats.mtl +12 -0
- safelibero/libero/libero/assets/scenes/coffee_table_seats/coffee_table_seats.obj +0 -0
- safelibero/libero/libero/assets/scenes/coffee_table_seats/coffee_table_seats.xml +15 -0
- safelibero/libero/libero/assets/scenes/desk/desk.mtl +32 -0
- safelibero/libero/libero/assets/scenes/desk/desk.obj +0 -0
- safelibero/libero/libero/assets/scenes/desk/desk.xml +15 -0
- safelibero/libero/libero/assets/scenes/desk/desk_col.obj +255 -0
- safelibero/libero/libero/assets/scenes/floor_lamp/floor_lamp.mtl +123 -0
- safelibero/libero/libero/assets/scenes/floor_lamp/floor_lamp.obj +0 -0
- safelibero/libero/libero/assets/scenes/floor_lamp/floor_lamp.xml +15 -0
- safelibero/libero/libero/assets/scenes/fridge/collision/fridge_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/fridge/fridge.mtl +12 -0
- safelibero/libero/libero/assets/scenes/fridge/fridge.obj +0 -0
- safelibero/libero/libero/assets/scenes/fridge/fridge.xml +15 -0
- safelibero/libero/libero/assets/scenes/kitchen_background/collision/kitchen_background_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background/kitchen_background.mtl +111 -0
- safelibero/libero/libero/assets/scenes/kitchen_background/kitchen_background.obj +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background/kitchen_background.xml +15 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/collision/kitchen_background_hot_pot_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/kitchen_background_hot_pot.mtl +13 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/kitchen_background_hot_pot.obj +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/kitchen_background_hot_pot.xml +15 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_pot/kitchen_background_pot.mtl +54 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_pot/kitchen_background_pot.obj +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_pot/kitchen_background_pot.xml +15 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_stove/collision/kitchen_background_stove_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_stove/kitchen_background_stove.mtl +35 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_stove/kitchen_background_stove.obj +0 -0
- safelibero/libero/libero/assets/scenes/kitchen_background_stove/kitchen_background_stove.xml +15 -0
- safelibero/libero/libero/assets/scenes/libero_tabletop_warm_style.xml +57 -0
- safelibero/libero/libero/assets/scenes/living_room/collision/living_room_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/living_room/living_room.mtl +83 -0
- safelibero/libero/libero/assets/scenes/living_room/living_room.obj +0 -0
- safelibero/libero/libero/assets/scenes/living_room/living_room.xml +15 -0
- safelibero/libero/libero/assets/scenes/living_room_table/living_room_table.mtl +13 -0
- safelibero/libero/libero/assets/scenes/living_room_table/living_room_table.obj +0 -0
- safelibero/libero/libero/assets/scenes/living_room_table/living_room_table.xml +15 -0
- safelibero/libero/libero/assets/scenes/living_room_table/living_room_table_col.obj +219 -0
- safelibero/libero/libero/assets/scenes/milk_body.xml +10 -0
- safelibero/libero/libero/assets/scenes/office_book_shelf/collision/office_book_shelf_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/office_book_shelf/office_book_shelf.mtl +12 -0
- safelibero/libero/libero/assets/scenes/office_book_shelf/office_book_shelf.obj +726 -0
- safelibero/libero/libero/assets/scenes/office_book_shelf/office_book_shelf.xml +15 -0
- safelibero/libero/libero/assets/scenes/office_book_shelf/visual/office_book_shelf_vis.msh +0 -0
- safelibero/libero/libero/assets/scenes/plant/collision/plant_ch.stl +0 -0
- safelibero/libero/libero/assets/scenes/plant/plant.mtl +13 -0
safelibero/libero/libero/assets/scenes/black_book/black_book.mtl
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# Blender 3.4.1 MTL File: 'black_book_final.blend'
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# www.blender.org
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newmtl Chocofur_Office_06.000
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Ns 250.000000
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| 6 |
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Ka 1.000000 1.000000 1.000000
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+
Ks 0.500000 0.500000 0.500000
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+
Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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map_Kd black_book_texture.png
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newmtl Chocofur_Office_06.001
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Ns 250.000000
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Ka 1.000000 1.000000 1.000000
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Ks 0.500000 0.500000 0.500000
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+
Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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map_Kd black_book_texture.png
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newmtl Chocofur_Office_06.002
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Ns 250.000000
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Ka 1.000000 1.000000 1.000000
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| 27 |
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Ks 0.500000 0.500000 0.500000
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| 28 |
+
Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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map_Kd black_book_texture.png
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safelibero/libero/libero/assets/scenes/black_book/black_book.obj
ADDED
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The diff for this file is too large to render.
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safelibero/libero/libero/assets/scenes/black_book/black_book.xml
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<mujoco model="black_book">
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<asset>
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<texture file="black_book_texture.png" name="tex-black_book" type="2d" />
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<material name="black_book" reflectance="0.5" texrepeat="1 1" texture="tex-black_book" texuniform="false" />
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<mesh file="visual/black_book_vis.msh" name="black_book_vis" scale="1.0 1.0 1.0" /><mesh file="collision/black_book_ch.stl" name="black_book_coll" scale="1.0 1.0 1.0" /></asset>
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<worldbody>
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<body>
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<body name="object">
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="black_book_vis" conaffinity="0" contype="0" group="1" material="black_book" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="black_book_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></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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safelibero/libero/libero/assets/scenes/black_book/collision/black_book_ch.stl
ADDED
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Binary file (3.88 kB). View file
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safelibero/libero/libero/assets/scenes/coffee_table_seats/coffee_table_seats.mtl
ADDED
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# Blender 3.3.1 MTL File: 'Coffee-Table-seats_test_texture.blend'
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# www.blender.org
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newmtl Material.001
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Ns 250.000000
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| 6 |
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Ka 1.000000 1.000000 1.000000
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| 7 |
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Ks 0.500000 0.500000 0.500000
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| 8 |
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Ke 0.000000 0.000000 0.000000
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| 9 |
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Ni 1.450000
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| 10 |
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d 1.000000
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| 11 |
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illum 2
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| 12 |
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map_Kd FabricLeatherBuffaloRustic001_COL_VAR1_4K.jpg
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safelibero/libero/libero/assets/scenes/coffee_table_seats/coffee_table_seats.obj
ADDED
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The diff for this file is too large to render.
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safelibero/libero/libero/assets/scenes/coffee_table_seats/coffee_table_seats.xml
ADDED
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<mujoco model="coffee_table_seats">
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<asset>
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<texture file="FabricLeatherBuffaloRustic001_COL_VAR1_4K.png" name="tex-coffee_table_seats" type="2d" />
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| 4 |
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<material name="coffee_table_seats" reflectance="0.5" texrepeat="1 1" texture="tex-coffee_table_seats" texuniform="false" />
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| 5 |
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<mesh file="visual/coffee_table_seats_vis.msh" name="coffee_table_seats_vis" scale="1.0 1.0 1.0" /><mesh file="collision/coffee_table_seats_ch.stl" name="coffee_table_seats_coll" scale="1.0 1.0 1.0" /></asset>
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| 6 |
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<worldbody>
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| 7 |
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<body>
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<body name="object">
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="coffee_table_seats_vis" conaffinity="0" contype="0" group="1" material="coffee_table_seats" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="coffee_table_seats_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
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| 10 |
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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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| 11 |
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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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| 12 |
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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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| 13 |
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</body>
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</worldbody>
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</mujoco>
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safelibero/libero/libero/assets/scenes/desk/desk.mtl
ADDED
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# Blender 3.4.1 MTL File: 'desk_final.blend'
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# www.blender.org
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newmtl Chocofur_Interior_Scene_11.003
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| 5 |
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Ns 250.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
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| 8 |
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Ke 0.000000 0.000000 0.000000
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| 9 |
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Ni 1.450000
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| 10 |
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d 1.000000
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| 11 |
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illum 2
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| 12 |
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map_Kd desk_texture.png
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| 13 |
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| 14 |
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newmtl Chocofur_Interior_Scene_11.004
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| 15 |
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Ns 722.500000
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| 16 |
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Ka 1.000000 1.000000 1.000000
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| 17 |
+
Ks 0.750000 0.750000 0.750000
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| 18 |
+
Ke 0.000000 0.000000 0.000000
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| 19 |
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Ni 1.450000
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| 20 |
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d 1.000000
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| 21 |
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illum 3
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| 22 |
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map_Kd desk_texture.png
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| 23 |
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newmtl Chocofur_Interior_Scene_11.008
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| 25 |
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Ns 422.499969
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| 26 |
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Ka 1.000000 1.000000 1.000000
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| 27 |
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Ks 0.500000 0.500000 0.500000
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| 28 |
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Ke 0.000000 0.000000 0.000000
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| 29 |
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Ni 1.450000
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| 30 |
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d 1.000000
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| 31 |
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illum 2
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| 32 |
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map_Kd desk_texture.png
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safelibero/libero/libero/assets/scenes/desk/desk.obj
ADDED
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The diff for this file is too large to render.
See raw diff
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safelibero/libero/libero/assets/scenes/desk/desk.xml
ADDED
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<mujoco model="desk">
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<asset>
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<texture file="desk_texture.png" name="tex-desk" type="2d" />
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<material name="desk" reflectance="0.5" texrepeat="1 1" texture="tex-desk" texuniform="false" />
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| 5 |
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<mesh file="visual/desk_vis.msh" name="desk_vis" scale="1.0 1.0 1.0" /></asset>
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<worldbody>
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<body>
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| 8 |
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<body name="object">
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<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="desk_vis" conaffinity="0" contype="0" group="1" material="desk" /><geom 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 0.84929" quat="0.50000 -0.50000 0.50000 0.50000" size="0.03584 0.68946 1.39273" 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="-0.50048 -0.69064 0.39431" quat="0.00000 0.00000 1.00000 0.00000" size="0.02002 0.05031 0.39407" 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="0.49617 -0.69064 0.39431" quat="1.00000 -0.00000 -0.00000 -0.00000" size="0.02002 0.05031 0.39407" 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="0.49617 0.70968 0.39431" quat="0.00000 0.00000 1.00000 0.00000" size="0.02002 0.05032 0.39407" 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="-0.50048 0.71473 0.39431" quat="1.00000 -0.00000 -0.00000 -0.00000" size="0.02002 0.05031 0.39407" 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="-0.00488 0.71473 0.02528" quat="0.70811 0.00000 -0.70610 -0.00000" size="0.02002 0.05031 0.51262" 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="-0.00488 -0.69765 0.02528" quat="0.70811 0.00000 -0.70610 -0.00000" size="0.02002 0.05032 0.51262" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
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| 10 |
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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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| 11 |
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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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| 12 |
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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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| 13 |
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</body>
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</worldbody>
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</mujoco>
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safelibero/libero/libero/assets/scenes/desk/desk_col.obj
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|
| 1 |
+
# Blender 3.4.1
|
| 2 |
+
# www.blender.org
|
| 3 |
+
mtllib desk_col.mtl
|
| 4 |
+
o Cube
|
| 5 |
+
v -0.689459 1.392729 0.813448
|
| 6 |
+
v -0.689459 1.392729 0.885137
|
| 7 |
+
v 0.689459 1.392729 0.813448
|
| 8 |
+
v 0.689459 1.392729 0.885137
|
| 9 |
+
v -0.689459 -1.392729 0.813448
|
| 10 |
+
v -0.689459 -1.392729 0.885137
|
| 11 |
+
v 0.689459 -1.392729 0.813448
|
| 12 |
+
v 0.689459 -1.392729 0.885137
|
| 13 |
+
vn -0.0000 1.0000 -0.0000
|
| 14 |
+
vn 1.0000 -0.0000 -0.0000
|
| 15 |
+
vn -0.0000 -1.0000 -0.0000
|
| 16 |
+
vn -1.0000 -0.0000 -0.0000
|
| 17 |
+
vn -0.0000 -0.0000 -1.0000
|
| 18 |
+
vn -0.0000 -0.0000 1.0000
|
| 19 |
+
vt 0.375000 0.000000
|
| 20 |
+
vt 0.375000 1.000000
|
| 21 |
+
vt 0.125000 0.750000
|
| 22 |
+
vt 0.625000 0.000000
|
| 23 |
+
vt 0.625000 1.000000
|
| 24 |
+
vt 0.875000 0.750000
|
| 25 |
+
vt 0.375000 0.250000
|
| 26 |
+
vt 0.125000 0.500000
|
| 27 |
+
vt 0.625000 0.250000
|
| 28 |
+
vt 0.875000 0.500000
|
| 29 |
+
vt 0.375000 0.750000
|
| 30 |
+
vt 0.625000 0.750000
|
| 31 |
+
vt 0.375000 0.500000
|
| 32 |
+
vt 0.625000 0.500000
|
| 33 |
+
s 0
|
| 34 |
+
f 1/1/1 2/4/1 4/9/1 3/7/1
|
| 35 |
+
f 3/7/2 4/9/2 8/14/2 7/13/2
|
| 36 |
+
f 7/13/3 8/14/3 6/12/3 5/11/3
|
| 37 |
+
f 5/11/4 6/12/4 2/5/4 1/2/4
|
| 38 |
+
f 3/8/5 7/13/5 5/11/5 1/3/5
|
| 39 |
+
f 8/14/6 4/10/6 2/6/6 6/12/6
|
| 40 |
+
o Cube.001
|
| 41 |
+
v -0.520497 -0.640330 0.000249
|
| 42 |
+
v -0.520497 -0.640330 0.788380
|
| 43 |
+
v -0.480455 -0.640330 0.000249
|
| 44 |
+
v -0.480455 -0.640330 0.788380
|
| 45 |
+
v -0.520497 -0.740960 0.000249
|
| 46 |
+
v -0.520497 -0.740960 0.788380
|
| 47 |
+
v -0.480455 -0.740960 0.000249
|
| 48 |
+
v -0.480455 -0.740960 0.788380
|
| 49 |
+
vn -0.0000 1.0000 -0.0000
|
| 50 |
+
vn 1.0000 -0.0000 -0.0000
|
| 51 |
+
vn -0.0000 -1.0000 -0.0000
|
| 52 |
+
vn -1.0000 -0.0000 -0.0000
|
| 53 |
+
vn -0.0000 -0.0000 -1.0000
|
| 54 |
+
vn -0.0000 -0.0000 1.0000
|
| 55 |
+
vt 0.375000 0.000000
|
| 56 |
+
vt 0.375000 1.000000
|
| 57 |
+
vt 0.125000 0.750000
|
| 58 |
+
vt 0.625000 0.000000
|
| 59 |
+
vt 0.625000 1.000000
|
| 60 |
+
vt 0.875000 0.750000
|
| 61 |
+
vt 0.375000 0.250000
|
| 62 |
+
vt 0.125000 0.500000
|
| 63 |
+
vt 0.625000 0.250000
|
| 64 |
+
vt 0.875000 0.500000
|
| 65 |
+
vt 0.375000 0.750000
|
| 66 |
+
vt 0.625000 0.750000
|
| 67 |
+
vt 0.375000 0.500000
|
| 68 |
+
vt 0.625000 0.500000
|
| 69 |
+
s 0
|
| 70 |
+
f 9/15/7 10/18/7 12/23/7 11/21/7
|
| 71 |
+
f 11/21/8 12/23/8 16/28/8 15/27/8
|
| 72 |
+
f 15/27/9 16/28/9 14/26/9 13/25/9
|
| 73 |
+
f 13/25/10 14/26/10 10/19/10 9/16/10
|
| 74 |
+
f 11/22/11 15/27/11 13/25/11 9/17/11
|
| 75 |
+
f 16/28/12 12/24/12 10/20/12 14/26/12
|
| 76 |
+
o Cube.002
|
| 77 |
+
v 0.476149 -0.640330 0.000249
|
| 78 |
+
v 0.476149 -0.640330 0.788380
|
| 79 |
+
v 0.516191 -0.640330 0.000249
|
| 80 |
+
v 0.516191 -0.640330 0.788380
|
| 81 |
+
v 0.476149 -0.740960 0.000249
|
| 82 |
+
v 0.476149 -0.740960 0.788380
|
| 83 |
+
v 0.516191 -0.740960 0.000249
|
| 84 |
+
v 0.516191 -0.740960 0.788380
|
| 85 |
+
vn -0.0000 1.0000 -0.0000
|
| 86 |
+
vn 1.0000 -0.0000 -0.0000
|
| 87 |
+
vn -0.0000 -1.0000 -0.0000
|
| 88 |
+
vn -1.0000 -0.0000 -0.0000
|
| 89 |
+
vn -0.0000 -0.0000 -1.0000
|
| 90 |
+
vn -0.0000 -0.0000 1.0000
|
| 91 |
+
vt 0.375000 0.000000
|
| 92 |
+
vt 0.375000 1.000000
|
| 93 |
+
vt 0.125000 0.750000
|
| 94 |
+
vt 0.625000 0.000000
|
| 95 |
+
vt 0.625000 1.000000
|
| 96 |
+
vt 0.875000 0.750000
|
| 97 |
+
vt 0.375000 0.250000
|
| 98 |
+
vt 0.125000 0.500000
|
| 99 |
+
vt 0.625000 0.250000
|
| 100 |
+
vt 0.875000 0.500000
|
| 101 |
+
vt 0.375000 0.750000
|
| 102 |
+
vt 0.625000 0.750000
|
| 103 |
+
vt 0.375000 0.500000
|
| 104 |
+
vt 0.625000 0.500000
|
| 105 |
+
s 0
|
| 106 |
+
f 17/29/13 18/32/13 20/37/13 19/35/13
|
| 107 |
+
f 19/35/14 20/37/14 24/42/14 23/41/14
|
| 108 |
+
f 23/41/15 24/42/15 22/40/15 21/39/15
|
| 109 |
+
f 21/39/16 22/40/16 18/33/16 17/30/16
|
| 110 |
+
f 19/36/17 23/41/17 21/39/17 17/31/17
|
| 111 |
+
f 24/42/18 20/38/18 18/34/18 22/40/18
|
| 112 |
+
o Cube.003
|
| 113 |
+
v 0.476149 0.759992 0.000249
|
| 114 |
+
v 0.476149 0.759992 0.788380
|
| 115 |
+
v 0.516191 0.759992 0.000249
|
| 116 |
+
v 0.516191 0.759992 0.788380
|
| 117 |
+
v 0.476149 0.659361 0.000249
|
| 118 |
+
v 0.476149 0.659361 0.788380
|
| 119 |
+
v 0.516191 0.659361 0.000249
|
| 120 |
+
v 0.516191 0.659361 0.788380
|
| 121 |
+
vn -0.0000 1.0000 -0.0000
|
| 122 |
+
vn 1.0000 -0.0000 -0.0000
|
| 123 |
+
vn -0.0000 -1.0000 -0.0000
|
| 124 |
+
vn -1.0000 -0.0000 -0.0000
|
| 125 |
+
vn -0.0000 -0.0000 -1.0000
|
| 126 |
+
vn -0.0000 -0.0000 1.0000
|
| 127 |
+
vt 0.375000 0.000000
|
| 128 |
+
vt 0.375000 1.000000
|
| 129 |
+
vt 0.125000 0.750000
|
| 130 |
+
vt 0.625000 0.000000
|
| 131 |
+
vt 0.625000 1.000000
|
| 132 |
+
vt 0.875000 0.750000
|
| 133 |
+
vt 0.375000 0.250000
|
| 134 |
+
vt 0.125000 0.500000
|
| 135 |
+
vt 0.625000 0.250000
|
| 136 |
+
vt 0.875000 0.500000
|
| 137 |
+
vt 0.375000 0.750000
|
| 138 |
+
vt 0.625000 0.750000
|
| 139 |
+
vt 0.375000 0.500000
|
| 140 |
+
vt 0.625000 0.500000
|
| 141 |
+
s 0
|
| 142 |
+
f 25/43/19 26/46/19 28/51/19 27/49/19
|
| 143 |
+
f 27/49/20 28/51/20 32/56/20 31/55/20
|
| 144 |
+
f 31/55/21 32/56/21 30/54/21 29/53/21
|
| 145 |
+
f 29/53/22 30/54/22 26/47/22 25/44/22
|
| 146 |
+
f 27/50/23 31/55/23 29/53/23 25/45/23
|
| 147 |
+
f 32/56/24 28/52/24 26/48/24 30/54/24
|
| 148 |
+
o Cube.004
|
| 149 |
+
v -0.520497 0.765047 0.000249
|
| 150 |
+
v -0.520497 0.765047 0.788380
|
| 151 |
+
v -0.480455 0.765047 0.000249
|
| 152 |
+
v -0.480455 0.765047 0.788380
|
| 153 |
+
v -0.520497 0.664417 0.000249
|
| 154 |
+
v -0.520497 0.664417 0.788380
|
| 155 |
+
v -0.480455 0.664417 0.000249
|
| 156 |
+
v -0.480455 0.664417 0.788380
|
| 157 |
+
vn -0.0000 1.0000 -0.0000
|
| 158 |
+
vn 1.0000 -0.0000 -0.0000
|
| 159 |
+
vn -0.0000 -1.0000 -0.0000
|
| 160 |
+
vn -1.0000 -0.0000 -0.0000
|
| 161 |
+
vn -0.0000 -0.0000 -1.0000
|
| 162 |
+
vn -0.0000 -0.0000 1.0000
|
| 163 |
+
vt 0.375000 0.000000
|
| 164 |
+
vt 0.375000 1.000000
|
| 165 |
+
vt 0.125000 0.750000
|
| 166 |
+
vt 0.625000 0.000000
|
| 167 |
+
vt 0.625000 1.000000
|
| 168 |
+
vt 0.875000 0.750000
|
| 169 |
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vt 0.375000 0.250000
|
| 170 |
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vt 0.125000 0.500000
|
| 171 |
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vt 0.625000 0.250000
|
| 172 |
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|
| 173 |
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vt 0.375000 0.750000
|
| 174 |
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vt 0.625000 0.750000
|
| 175 |
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vt 0.375000 0.500000
|
| 176 |
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vt 0.625000 0.500000
|
| 177 |
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s 0
|
| 178 |
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f 33/57/25 34/60/25 36/65/25 35/63/25
|
| 179 |
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f 35/63/26 36/65/26 40/70/26 39/69/26
|
| 180 |
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f 39/69/27 40/70/27 38/68/27 37/67/27
|
| 181 |
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f 37/67/28 38/68/28 34/61/28 33/58/28
|
| 182 |
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f 35/64/29 39/69/29 37/67/29 33/59/29
|
| 183 |
+
f 40/70/30 36/66/30 34/62/30 38/68/30
|
| 184 |
+
o Cube.005
|
| 185 |
+
v -0.517435 0.765047 0.046753
|
| 186 |
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v 0.507797 0.765047 0.043842
|
| 187 |
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|
| 188 |
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| 189 |
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v -0.517435 0.664417 0.046753
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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|
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|
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|
| 209 |
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|
| 210 |
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|
| 211 |
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vt 0.375000 0.500000
|
| 212 |
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vt 0.625000 0.500000
|
| 213 |
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|
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|
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|
| 216 |
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|
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|
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|
| 219 |
+
f 48/84/36 44/80/36 42/76/36 46/82/36
|
| 220 |
+
o Cube.006
|
| 221 |
+
v -0.517435 -0.647330 0.046753
|
| 222 |
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v 0.507797 -0.647330 0.043842
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| 223 |
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| 224 |
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|
| 225 |
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|
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|
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|
| 232 |
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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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| 250 |
+
f 49/85/37 50/88/37 52/93/37 51/91/37
|
| 251 |
+
f 51/91/38 52/93/38 56/98/38 55/97/38
|
| 252 |
+
f 55/97/39 56/98/39 54/96/39 53/95/39
|
| 253 |
+
f 53/95/40 54/96/40 50/89/40 49/86/40
|
| 254 |
+
f 51/92/41 55/97/41 53/95/41 49/87/41
|
| 255 |
+
f 56/98/42 52/94/42 50/90/42 54/96/42
|
safelibero/libero/libero/assets/scenes/floor_lamp/floor_lamp.mtl
ADDED
|
@@ -0,0 +1,123 @@
|
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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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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'floor_lamp.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl BlackPaint
|
| 5 |
+
Ns 803.467712
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Kd 0.008023 0.008023 0.007499
|
| 8 |
+
Ks 0.500000 0.500000 0.500000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 2
|
| 13 |
+
|
| 14 |
+
newmtl Brass_Anisotropic_Linear
|
| 15 |
+
Ns 422.499969
|
| 16 |
+
Ka 1.000000 1.000000 1.000000
|
| 17 |
+
Kd 0.008023 0.008023 0.007499
|
| 18 |
+
Ks 0.500000 0.500000 0.500000
|
| 19 |
+
Ke 0.000000 0.000000 0.000000
|
| 20 |
+
Ni 1.450000
|
| 21 |
+
d 1.000000
|
| 22 |
+
illum 3
|
| 23 |
+
|
| 24 |
+
newmtl Cable
|
| 25 |
+
Ns 462.399994
|
| 26 |
+
Ka 1.000000 1.000000 1.000000
|
| 27 |
+
Kd 0.010030 0.010030 0.010030
|
| 28 |
+
Ks 0.500000 0.500000 0.500000
|
| 29 |
+
Ke 0.000000 0.000000 0.000000
|
| 30 |
+
Ni 1.450000
|
| 31 |
+
d 1.000000
|
| 32 |
+
illum 2
|
| 33 |
+
|
| 34 |
+
newmtl FloorLamp_01_Bulb
|
| 35 |
+
Ns 883.599976
|
| 36 |
+
Ka 1.000000 1.000000 1.000000
|
| 37 |
+
Ks 0.500000 0.500000 0.500000
|
| 38 |
+
Ke 0.000000 0.000000 0.000000
|
| 39 |
+
Ni 1.450000
|
| 40 |
+
d 1.000000
|
| 41 |
+
illum 2
|
| 42 |
+
map_Kd FloorLamp_01_BaseColor.png
|
| 43 |
+
|
| 44 |
+
newmtl Gold_Anisotropic_Linear
|
| 45 |
+
Ns 422.499969
|
| 46 |
+
Ka 1.000000 1.000000 1.000000
|
| 47 |
+
Kd 0.008023 0.008023 0.007499
|
| 48 |
+
Ks 0.500000 0.500000 0.500000
|
| 49 |
+
Ke 0.000000 0.000000 0.000000
|
| 50 |
+
Ni 1.450000
|
| 51 |
+
d 1.000000
|
| 52 |
+
illum 3
|
| 53 |
+
|
| 54 |
+
newmtl Gold_Anisotropic_Linear_NoBrush
|
| 55 |
+
Ns 422.499969
|
| 56 |
+
Ka 1.000000 1.000000 1.000000
|
| 57 |
+
Kd 0.008023 0.008023 0.007499
|
| 58 |
+
Ks 0.500000 0.500000 0.500000
|
| 59 |
+
Ke 0.000000 0.000000 0.000000
|
| 60 |
+
Ni 1.450000
|
| 61 |
+
d 1.000000
|
| 62 |
+
illum 3
|
| 63 |
+
|
| 64 |
+
newmtl Gold_Anisotropic_Linear_NoBrush_Dented
|
| 65 |
+
Ns 422.499969
|
| 66 |
+
Ka 1.000000 1.000000 1.000000
|
| 67 |
+
Kd 0.008023 0.008023 0.007499
|
| 68 |
+
Ks 0.500000 0.500000 0.500000
|
| 69 |
+
Ke 0.000000 0.000000 0.000000
|
| 70 |
+
Ni 1.450000
|
| 71 |
+
d 1.000000
|
| 72 |
+
illum 3
|
| 73 |
+
map_Bump -s 1 2 1 -bm 1.000000 Dents_nrm.png
|
| 74 |
+
|
| 75 |
+
newmtl Gold_Anisotropic_Radial
|
| 76 |
+
Ns 490.000000
|
| 77 |
+
Ka 1.000000 1.000000 1.000000
|
| 78 |
+
Kd 0.008023 0.008023 0.007499
|
| 79 |
+
Ks 0.500000 0.500000 0.500000
|
| 80 |
+
Ke 0.000000 0.000000 0.000000
|
| 81 |
+
Ni 1.450000
|
| 82 |
+
d 1.000000
|
| 83 |
+
illum 3
|
| 84 |
+
|
| 85 |
+
newmtl Gold_Anisotropic_Radial_NoBrush
|
| 86 |
+
Ns 490.000000
|
| 87 |
+
Ka 1.000000 1.000000 1.000000
|
| 88 |
+
Kd 0.008023 0.008023 0.007499
|
| 89 |
+
Ks 0.500000 0.500000 0.500000
|
| 90 |
+
Ke 0.000000 0.000000 0.000000
|
| 91 |
+
Ni 1.450000
|
| 92 |
+
d 1.000000
|
| 93 |
+
illum 3
|
| 94 |
+
|
| 95 |
+
newmtl Gold_Anisotropic_Tube
|
| 96 |
+
Ns 422.499969
|
| 97 |
+
Ka 1.000000 1.000000 1.000000
|
| 98 |
+
Kd 0.008023 0.008023 0.007499
|
| 99 |
+
Ks 0.500000 0.500000 0.500000
|
| 100 |
+
Ke 0.000000 0.000000 0.000000
|
| 101 |
+
Ni 1.450000
|
| 102 |
+
d 1.000000
|
| 103 |
+
illum 3
|
| 104 |
+
|
| 105 |
+
newmtl Metal
|
| 106 |
+
Ns 402.647949
|
| 107 |
+
Ka 1.000000 1.000000 1.000000
|
| 108 |
+
Kd 0.543919 0.543919 0.543919
|
| 109 |
+
Ks 0.500000 0.500000 0.500000
|
| 110 |
+
Ke 0.000000 0.000000 0.000000
|
| 111 |
+
Ni 1.450000
|
| 112 |
+
d 1.000000
|
| 113 |
+
illum 3
|
| 114 |
+
|
| 115 |
+
newmtl Plastic_Black_Rough
|
| 116 |
+
Ns 159.999985
|
| 117 |
+
Ka 1.000000 1.000000 1.000000
|
| 118 |
+
Kd 0.013968 0.013968 0.013968
|
| 119 |
+
Ks 0.500000 0.500000 0.500000
|
| 120 |
+
Ke 0.000000 0.000000 0.000000
|
| 121 |
+
Ni 1.450000
|
| 122 |
+
d 1.000000
|
| 123 |
+
illum 2
|
safelibero/libero/libero/assets/scenes/floor_lamp/floor_lamp.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/floor_lamp/floor_lamp.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="floor_lamp">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="lamp_texture.png" name="tex-floor_lamp" type="2d" />
|
| 4 |
+
<material name="floor_lamp" reflectance="0.5" texrepeat="1 1" texture="tex-floor_lamp" texuniform="false" />
|
| 5 |
+
<mesh file="visual/floor_lamp_vis.msh" name="floor_lamp_vis" scale="1.0 1.0 1.0" /><mesh file="collision/floor_lamp_ch.stl" name="floor_lamp_coll" scale="1.0 1.0 1.0" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="floor_lamp_vis" conaffinity="0" contype="0" group="1" material="floor_lamp" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="floor_lamp_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/fridge/collision/fridge_ch.stl
ADDED
|
Binary file (43.3 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/fridge/fridge.mtl
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'fridge_final.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl AI58_002_Metal_V002
|
| 5 |
+
Ns 250.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.450000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 3
|
| 12 |
+
map_Kd kitchen_fridge_background.png
|
safelibero/libero/libero/assets/scenes/fridge/fridge.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/fridge/fridge.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="fridge">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="kitchen_fridge_background.png" name="tex-fridge" type="2d" />
|
| 4 |
+
<material name="fridge" reflectance="0.5" texrepeat="1 1" texture="tex-fridge" texuniform="false" />
|
| 5 |
+
<mesh file="visual/fridge_vis.msh" name="fridge_vis" scale="1.0 1.0 1.0" /><mesh file="collision/fridge_ch.stl" name="fridge_coll" scale="1.0 1.0 1.0" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="fridge_vis" conaffinity="0" contype="0" group="1" material="fridge" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="fridge_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/kitchen_background/collision/kitchen_background_ch.stl
ADDED
|
Binary file (5.28 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background/kitchen_background.mtl
ADDED
|
@@ -0,0 +1,111 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'kitchen_background_final.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl AI58_002_Marble
|
| 5 |
+
Ns 250.000000
|
| 6 |
+
Ka 0.500000 0.500000 0.500000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 5.000000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 3
|
| 12 |
+
map_Kd kitchen_background.png
|
| 13 |
+
map_Bump -bm 0.300000 AI58_002_Marble_V006_Normal.png
|
| 14 |
+
|
| 15 |
+
newmtl AI58_002_Metal_V002
|
| 16 |
+
Ns 250.000000
|
| 17 |
+
Ka 1.000000 1.000000 1.000000
|
| 18 |
+
Ks 0.500000 0.500000 0.500000
|
| 19 |
+
Ke 0.000000 0.000000 0.000000
|
| 20 |
+
Ni 1.450000
|
| 21 |
+
d 1.000000
|
| 22 |
+
illum 3
|
| 23 |
+
map_Kd kitchen_background.png
|
| 24 |
+
map_Bump -bm 0.300000 AI58_002_Metal_V002_Normal.png
|
| 25 |
+
|
| 26 |
+
newmtl AI58_002_Metal_V003
|
| 27 |
+
Ns 250.000000
|
| 28 |
+
Ka 1.000000 1.000000 1.000000
|
| 29 |
+
Ks 0.500000 0.500000 0.500000
|
| 30 |
+
Ke 0.000000 0.000000 0.000000
|
| 31 |
+
Ni 1.450000
|
| 32 |
+
d 1.000000
|
| 33 |
+
illum 2
|
| 34 |
+
map_Kd kitchen_background.png
|
| 35 |
+
map_Bump -bm 0.300000 AI58_002_Metal_V003_Normal.png
|
| 36 |
+
|
| 37 |
+
newmtl AI58_002_Metal_V004
|
| 38 |
+
Ns 250.000000
|
| 39 |
+
Ka 1.000000 1.000000 1.000000
|
| 40 |
+
Ks 0.500000 0.500000 0.500000
|
| 41 |
+
Ke 0.000000 0.000000 0.000000
|
| 42 |
+
Ni 1.450000
|
| 43 |
+
d 1.000000
|
| 44 |
+
illum 3
|
| 45 |
+
map_Kd kitchen_background.png
|
| 46 |
+
map_Bump -bm 1.000000 AI58_002_Metal_V004_Normal.png
|
| 47 |
+
|
| 48 |
+
newmtl AI58_002_Plastic_V002
|
| 49 |
+
Ns 250.000000
|
| 50 |
+
Ka 1.000000 1.000000 1.000000
|
| 51 |
+
Ks 0.500000 0.500000 0.500000
|
| 52 |
+
Ke 0.000000 0.000000 0.000000
|
| 53 |
+
Ni 2.000000
|
| 54 |
+
d 1.000000
|
| 55 |
+
illum 2
|
| 56 |
+
map_Kd kitchen_background.png
|
| 57 |
+
map_Bump -bm 0.300000 AI58_002_Plastic_V002_Normal.png
|
| 58 |
+
|
| 59 |
+
newmtl AI58_002_Plastic_V002B
|
| 60 |
+
Ns 250.000000
|
| 61 |
+
Ka 1.000000 1.000000 1.000000
|
| 62 |
+
Ks 0.500000 0.500000 0.500000
|
| 63 |
+
Ke 0.000000 0.000000 0.000000
|
| 64 |
+
Ni 2.000000
|
| 65 |
+
d 1.000000
|
| 66 |
+
illum 2
|
| 67 |
+
map_Kd kitchen_background.png
|
| 68 |
+
map_Bump -bm 0.300000 AI58_002_Plastic_V002_Normal.png
|
| 69 |
+
|
| 70 |
+
newmtl AI58_002_chrome_brush_002
|
| 71 |
+
Ns 250.000000
|
| 72 |
+
Ka 1.000000 1.000000 1.000000
|
| 73 |
+
Ks 0.500000 0.500000 0.500000
|
| 74 |
+
Ke 0.000000 0.000000 0.000000
|
| 75 |
+
Ni 1.450000
|
| 76 |
+
d 1.000000
|
| 77 |
+
illum 3
|
| 78 |
+
map_Kd kitchen_background.png
|
| 79 |
+
map_Bump -bm 1.000000 AI58_002_chrome_brush_002_Normal.png
|
| 80 |
+
|
| 81 |
+
newmtl AI58_002_chrome_dark_001
|
| 82 |
+
Ns 250.000000
|
| 83 |
+
Ka 1.000000 1.000000 1.000000
|
| 84 |
+
Ks 0.500000 0.500000 0.500000
|
| 85 |
+
Ke 0.000000 0.000000 0.000000
|
| 86 |
+
Ni 1.450000
|
| 87 |
+
d 1.000000
|
| 88 |
+
illum 2
|
| 89 |
+
map_Kd kitchen_background.png
|
| 90 |
+
map_Bump -bm 1.000000 AI58_002_chrome_dark_001_Normal.png
|
| 91 |
+
|
| 92 |
+
newmtl AI58_002_glass
|
| 93 |
+
Ns 980.100037
|
| 94 |
+
Ka 1.000000 1.000000 1.000000
|
| 95 |
+
Ks 0.500000 0.500000 0.500000
|
| 96 |
+
Ke 0.000000 0.000000 0.000000
|
| 97 |
+
Ni 1.400000
|
| 98 |
+
d 1.000000
|
| 99 |
+
illum 2
|
| 100 |
+
map_Kd kitchen_background.png
|
| 101 |
+
|
| 102 |
+
newmtl AI58_002_metal_black
|
| 103 |
+
Ns 250.000000
|
| 104 |
+
Ka 0.500000 0.500000 0.500000
|
| 105 |
+
Ks 0.500000 0.500000 0.500000
|
| 106 |
+
Ke 0.000000 0.000000 0.000000
|
| 107 |
+
Ni 2.000000
|
| 108 |
+
d 1.000000
|
| 109 |
+
illum 3
|
| 110 |
+
map_Kd kitchen_background.png
|
| 111 |
+
map_Bump -bm 1.000000 AI58_002_metal_black_Normal.png
|
safelibero/libero/libero/assets/scenes/kitchen_background/kitchen_background.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background/kitchen_background.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="kitchen_background">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="kitchen_background.png" name="tex-kitchen_background" type="2d" />
|
| 4 |
+
<material name="kitchen_background" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background" texuniform="false" />
|
| 5 |
+
<mesh file="visual/kitchen_background_vis.msh" name="kitchen_background_vis" scale="0.001 0.001 0.001" /><mesh file="collision/kitchen_background_ch.stl" name="kitchen_background_coll" scale="0.001 0.001 0.001" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_vis" conaffinity="0" contype="0" group="1" material="kitchen_background" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/collision/kitchen_background_hot_pot_ch.stl
ADDED
|
Binary file (52.3 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/kitchen_background_hot_pot.mtl
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'kitchen_background_pot.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl AI58_002_metal_pot_001
|
| 5 |
+
Ns 250.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Kd 0.800000 0.800000 0.800000
|
| 8 |
+
Ks 0.500000 0.500000 0.500000
|
| 9 |
+
Ke 0.000000 0.000000 0.000000
|
| 10 |
+
Ni 1.450000
|
| 11 |
+
d 1.000000
|
| 12 |
+
illum 3
|
| 13 |
+
map_Bump -bm 1.000000 /Users/yifengz/Documents/Blender/Assets/textures/AI58_002_metal_pot_001_Normal.jpg
|
safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/kitchen_background_hot_pot.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background_hot_pot/kitchen_background_hot_pot.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="kitchen_background_hot_pot">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="kitchen_background_hot_pot.obj" name="tex-kitchen_background_hot_pot" type="2d" />
|
| 4 |
+
<material name="kitchen_background_hot_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_hot_pot" texuniform="false" />
|
| 5 |
+
<mesh file="visual/kitchen_background_hot_pot_vis.msh" name="kitchen_background_hot_pot_vis" scale="1.0 1.0 1.0" /><mesh file="collision/kitchen_background_hot_pot_ch.stl" name="kitchen_background_hot_pot_coll" scale="1.0 1.0 1.0" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_hot_pot_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_hot_pot" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_hot_pot_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/kitchen_background_pot/kitchen_background_pot.mtl
ADDED
|
@@ -0,0 +1,54 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'kitchen_background_pot_final.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl AI58_002_MetalV001.001
|
| 5 |
+
Ns 250.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.450000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
map_Kd kitchen_background_pot.png
|
| 13 |
+
map_Bump -bm 1.000000 AI58_002_MetalV001_Normal.png
|
| 14 |
+
|
| 15 |
+
newmtl AI58_002_Prop_mtl_66.001
|
| 16 |
+
Ns 250.000000
|
| 17 |
+
Ka 1.000000 1.000000 1.000000
|
| 18 |
+
Ks 0.500000 0.500000 0.500000
|
| 19 |
+
Ke 0.000000 0.000000 0.000000
|
| 20 |
+
Ni 1.600000
|
| 21 |
+
d 1.000000
|
| 22 |
+
illum 3
|
| 23 |
+
map_Kd kitchen_background_pot.png
|
| 24 |
+
|
| 25 |
+
newmtl AI58_002_Prop_mtl_67.001
|
| 26 |
+
Ns 250.000000
|
| 27 |
+
Ka 1.000000 1.000000 1.000000
|
| 28 |
+
Ks 0.500000 0.500000 0.500000
|
| 29 |
+
Ke 0.000000 0.000000 0.000000
|
| 30 |
+
Ni 1.450000
|
| 31 |
+
d 1.000000
|
| 32 |
+
illum 2
|
| 33 |
+
map_Kd kitchen_background_pot.png
|
| 34 |
+
|
| 35 |
+
newmtl AI58_002_Prop_mtl_68.001
|
| 36 |
+
Ns 250.000000
|
| 37 |
+
Ka 1.000000 1.000000 1.000000
|
| 38 |
+
Ks 0.500000 0.500000 0.500000
|
| 39 |
+
Ke 0.000000 0.000000 0.000000
|
| 40 |
+
Ni 1.450000
|
| 41 |
+
d 1.000000
|
| 42 |
+
illum 2
|
| 43 |
+
map_Kd kitchen_background_pot.png
|
| 44 |
+
|
| 45 |
+
newmtl AI58_002_WhitePlastic.001
|
| 46 |
+
Ns 250.000000
|
| 47 |
+
Ka 1.000000 1.000000 1.000000
|
| 48 |
+
Ks 0.500000 0.500000 0.500000
|
| 49 |
+
Ke 0.000000 0.000000 0.000000
|
| 50 |
+
Ni 5.000000
|
| 51 |
+
d 1.000000
|
| 52 |
+
illum 2
|
| 53 |
+
map_Kd kitchen_background_pot.png
|
| 54 |
+
map_Bump -bm 1.000000 AI58_002_WhitePlastic_Normal.png
|
safelibero/libero/libero/assets/scenes/kitchen_background_pot/kitchen_background_pot.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background_pot/kitchen_background_pot.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="kitchen_background_pot">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="kitchen_background_pot.png" name="tex-kitchen_background_pot" type="2d" />
|
| 4 |
+
<material name="kitchen_background_pot" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_pot" texuniform="false" />
|
| 5 |
+
<mesh file="visual/kitchen_background_pot_vis.msh" name="kitchen_background_pot_vis" scale="0.001 0.001 0.001" /><mesh file="collision/kitchen_background_pot_ch.stl" name="kitchen_background_pot_coll" scale="0.001 0.001 0.001" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_pot_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_pot" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_pot_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/kitchen_background_stove/collision/kitchen_background_stove_ch.stl
ADDED
|
Binary file (17.6 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background_stove/kitchen_background_stove.mtl
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'kitchen_background_stove_final.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl AI58_002_Metal_V003
|
| 5 |
+
Ns 250.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.450000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
map_Kd kitchen_background_stove.png
|
| 13 |
+
map_Bump -bm 0.300000 AI58_002_Metal_V003_Normal.png
|
| 14 |
+
|
| 15 |
+
newmtl AI58_002_chrome_brush_002
|
| 16 |
+
Ns 250.000000
|
| 17 |
+
Ka 1.000000 1.000000 1.000000
|
| 18 |
+
Ks 0.500000 0.500000 0.500000
|
| 19 |
+
Ke 0.000000 0.000000 0.000000
|
| 20 |
+
Ni 1.450000
|
| 21 |
+
d 1.000000
|
| 22 |
+
illum 3
|
| 23 |
+
map_Kd kitchen_background_stove.png
|
| 24 |
+
map_Bump -bm 1.000000 AI58_002_chrome_brush_002_Normal.png
|
| 25 |
+
|
| 26 |
+
newmtl AI58_002_chrome_dark_001
|
| 27 |
+
Ns 250.000000
|
| 28 |
+
Ka 1.000000 1.000000 1.000000
|
| 29 |
+
Ks 0.500000 0.500000 0.500000
|
| 30 |
+
Ke 0.000000 0.000000 0.000000
|
| 31 |
+
Ni 1.450000
|
| 32 |
+
d 1.000000
|
| 33 |
+
illum 2
|
| 34 |
+
map_Kd kitchen_background_stove.png
|
| 35 |
+
map_Bump -bm 1.000000 AI58_002_chrome_dark_001_Normal.png
|
safelibero/libero/libero/assets/scenes/kitchen_background_stove/kitchen_background_stove.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/kitchen_background_stove/kitchen_background_stove.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="kitchen_background_stove">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="kitchen_background_stove.png" name="tex-kitchen_background_stove" type="2d" />
|
| 4 |
+
<material name="kitchen_background_stove" reflectance="0.5" texrepeat="1 1" texture="tex-kitchen_background_stove" texuniform="false" />
|
| 5 |
+
<mesh file="visual/kitchen_background_stove_vis.msh" name="kitchen_background_stove_vis" scale="0.01 0.01 0.01" /><mesh file="collision/kitchen_background_stove_ch.stl" name="kitchen_background_stove_coll" scale="0.01 0.01 0.01" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_stove_vis" conaffinity="0" contype="0" group="1" material="kitchen_background_stove" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="kitchen_background_stove_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/libero_tabletop_warm_style.xml
ADDED
|
@@ -0,0 +1,57 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="table_arena">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
|
| 4 |
+
<texture file="../textures/seamless_wood_planks_floor.png" type="2d" name="texplane"/>
|
| 5 |
+
<material name="floorplane" reflectance="0.0" shininess="0.0"
|
| 6 |
+
specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true"/>
|
| 7 |
+
<!-- ceramic table texture and material-->
|
| 8 |
+
<texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table"/>
|
| 9 |
+
<material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
|
| 10 |
+
<!-- steel legs -->
|
| 11 |
+
<texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs"/>
|
| 12 |
+
<material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
|
| 13 |
+
<!-- linen wall texture walls -->
|
| 14 |
+
<texture file="../textures/linen_wall_texture.png" type="2d" name="tex-wall"/>
|
| 15 |
+
|
| 16 |
+
<material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
|
| 17 |
+
<!-- added table texture and material for domain randomization -->
|
| 18 |
+
<texture name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
|
| 19 |
+
<material name="table_mat" texture="textable" />
|
| 20 |
+
|
| 21 |
+
</asset>
|
| 22 |
+
<worldbody>
|
| 23 |
+
<!-- Floor -->
|
| 24 |
+
<geom condim="3" group="1" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
|
| 25 |
+
<!-- Walls (visual only) -->
|
| 26 |
+
<!-- <geom mesh="wall_frames" material="wall_frame_mat" type="mesh" -->
|
| 27 |
+
<!-- contype="0" conaffinity="0" group="1" pos="-1 -1 1.4" /> -->
|
| 28 |
+
|
| 29 |
+
<geom pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_leftcorner_visual" material="walls_mat"/>
|
| 30 |
+
<geom pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rightcorner_visual" material="walls_mat"/>
|
| 31 |
+
<geom pos="1.25 3 1.5" quat="0.7071 0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/>
|
| 32 |
+
<geom pos="1.25 -3 1.5" quat="0.7071 -0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat"/>
|
| 33 |
+
<geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
|
| 34 |
+
<geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
|
| 35 |
+
<!-- Table body -->
|
| 36 |
+
<body name="table" pos="0 0 0.4">
|
| 37 |
+
<geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/>
|
| 38 |
+
<geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_texture"/>
|
| 39 |
+
<site pos="0 0 0.4" name="table_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/>
|
| 40 |
+
<!-- Legs (visual only) -->
|
| 41 |
+
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg1_visual" material="table_legs"/>
|
| 42 |
+
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg2_visual" material="table_legs"/>
|
| 43 |
+
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg3_visual" material="table_legs"/>
|
| 44 |
+
<geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg4_visual" material="table_legs"/>
|
| 45 |
+
</body>
|
| 46 |
+
<light name="light1" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
|
| 47 |
+
<light name="light2" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
|
| 48 |
+
<!-- front view -->
|
| 49 |
+
<camera mode="fixed" name="frontview" pos="1.0 0 1.45" quat="0.56 0.43 0.43 0.56"/>
|
| 50 |
+
<!-- bird view -->
|
| 51 |
+
<camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
|
| 52 |
+
<!-- agent view -->
|
| 53 |
+
<camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
|
| 54 |
+
<!-- side view -->
|
| 55 |
+
<camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
|
| 56 |
+
</worldbody>
|
| 57 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/living_room/collision/living_room_ch.stl
ADDED
|
Binary file (29.8 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/living_room/living_room.mtl
ADDED
|
@@ -0,0 +1,83 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'living_room.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl Base
|
| 5 |
+
Ns 10.000005
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.090000 0.090000 0.090000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.500000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
map_Kd living_room_wall_unit.png
|
| 13 |
+
|
| 14 |
+
newmtl Chrome
|
| 15 |
+
Ns 75.000008
|
| 16 |
+
Ka 1.000000 1.000000 1.000000
|
| 17 |
+
Ks 0.900000 0.900000 0.900000
|
| 18 |
+
Ke 0.000000 0.000000 0.000000
|
| 19 |
+
Ni 1.500000
|
| 20 |
+
d 1.000000
|
| 21 |
+
illum 2
|
| 22 |
+
map_Kd living_room_wall_unit.png
|
| 23 |
+
|
| 24 |
+
newmtl Color_01
|
| 25 |
+
Ns 200.000000
|
| 26 |
+
Ka 1.000000 1.000000 1.000000
|
| 27 |
+
Ks 1.000000 1.000000 1.000000
|
| 28 |
+
Ke 0.000000 0.000000 0.000000
|
| 29 |
+
Ni 1.450000
|
| 30 |
+
d 1.000000
|
| 31 |
+
illum 2
|
| 32 |
+
map_Kd living_room_wall_unit.png
|
| 33 |
+
|
| 34 |
+
newmtl Color_02
|
| 35 |
+
Ns 200.000000
|
| 36 |
+
Ka 1.000000 1.000000 1.000000
|
| 37 |
+
Ks 1.000000 1.000000 1.000000
|
| 38 |
+
Ke 0.000000 0.000000 0.000000
|
| 39 |
+
Ni 1.450000
|
| 40 |
+
d 1.000000
|
| 41 |
+
illum 2
|
| 42 |
+
map_Kd living_room_wall_unit.png
|
| 43 |
+
|
| 44 |
+
newmtl Color_03
|
| 45 |
+
Ns 200.000000
|
| 46 |
+
Ka 1.000000 1.000000 1.000000
|
| 47 |
+
Ks 1.000000 1.000000 1.000000
|
| 48 |
+
Ke 0.000000 0.000000 0.000000
|
| 49 |
+
Ni 1.450000
|
| 50 |
+
d 1.000000
|
| 51 |
+
illum 2
|
| 52 |
+
map_Kd living_room_wall_unit.png
|
| 53 |
+
|
| 54 |
+
newmtl Frame
|
| 55 |
+
Ns 50.000011
|
| 56 |
+
Ka 1.000000 1.000000 1.000000
|
| 57 |
+
Ks 0.900000 0.900000 0.900000
|
| 58 |
+
Ke 0.000000 0.000000 0.000000
|
| 59 |
+
Ni 1.500000
|
| 60 |
+
d 1.000000
|
| 61 |
+
illum 2
|
| 62 |
+
map_Kd living_room_wall_unit.png
|
| 63 |
+
map_Bump Frame_bump.jpg
|
| 64 |
+
|
| 65 |
+
newmtl Glossy_Dark_Grey
|
| 66 |
+
Ns 19.999990
|
| 67 |
+
Ka 1.000000 1.000000 1.000000
|
| 68 |
+
Ks 0.270000 0.270000 0.270000
|
| 69 |
+
Ke 0.000000 0.000000 0.000000
|
| 70 |
+
Ni 1.500000
|
| 71 |
+
d 1.000000
|
| 72 |
+
illum 2
|
| 73 |
+
map_Kd living_room_wall_unit.png
|
| 74 |
+
|
| 75 |
+
newmtl LCD
|
| 76 |
+
Ns 10.000005
|
| 77 |
+
Ka 1.000000 1.000000 1.000000
|
| 78 |
+
Ks 0.540000 0.540000 0.540000
|
| 79 |
+
Ke 0.000000 0.000000 0.000000
|
| 80 |
+
Ni 1.500000
|
| 81 |
+
d 1.000000
|
| 82 |
+
illum 2
|
| 83 |
+
map_Kd living_room_wall_unit.png
|
safelibero/libero/libero/assets/scenes/living_room/living_room.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/living_room/living_room.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="living_room">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="living_room_wall_unit.png" name="tex-living_room" type="2d" />
|
| 4 |
+
<material name="living_room" reflectance="0.5" texrepeat="1 1" texture="tex-living_room" texuniform="false" />
|
| 5 |
+
<mesh file="visual/living_room_vis.msh" name="living_room_vis" scale="1.0 1.0 1.0" /><mesh file="collision/living_room_ch.stl" name="living_room_coll" scale="1.0 1.0 1.0" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="living_room_vis" conaffinity="0" contype="0" group="1" material="living_room" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="living_room_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/living_room_table/living_room_table.mtl
ADDED
|
@@ -0,0 +1,13 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 3.4.1 MTL File: 'None'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl Louisa_Coffee_Table_LTV3
|
| 5 |
+
Ns 200.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 1.000000 1.000000 1.000000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.450000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
map_Kd living_room_table_texture.png
|
| 13 |
+
map_Bump -bm 1.000000 louisa-coffee-table-wood-bump.jpg
|
safelibero/libero/libero/assets/scenes/living_room_table/living_room_table.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
safelibero/libero/libero/assets/scenes/living_room_table/living_room_table.xml
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="living_room_table">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="living_room_table_texture.png" name="tex-living_room_table" type="2d" />
|
| 4 |
+
<material name="living_room_table" reflectance="0.5" texrepeat="1 1" texture="tex-living_room_table" texuniform="false" />
|
| 5 |
+
<mesh file="visual/living_room_table_vis.msh" name="living_room_table_vis" scale="1.5 1.5 1.5" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="living_room_table_vis" conaffinity="0" contype="0" group="1" material="living_room_table" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.19761 0.00000 0.42492" quat="0.70711 0.00000 0.70711 0.00000" size="0.01184 0.44432 0.67171" 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="0.54936 -0.00000 0.42492" quat="0.50000 0.50000 0.50000 -0.50000" size="0.01184 0.10133 0.41675" 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="-0.97006 0.00000 0.42492" quat="0.50000 -0.50000 -0.50000 -0.50000" size="0.01184 0.10133 0.41675" 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="-0.19761 -0.51121 0.42492" quat="0.70711 0.00000 0.70711 0.00000" size="0.01184 0.07752 0.67171" 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="-0.19761 0.49665 0.42492" quat="0.70711 0.00000 0.70711 0.00000" size="0.01184 0.07752 0.67171" 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 0.00000 0.20414" quat="0.70711 -0.00000 -0.70711 -0.00000" size="0.20884 0.41162 0.43516" group="0" rgba="0.8 0.8 0.8 0.3" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
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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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| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/living_room_table/living_room_table_col.obj
ADDED
|
@@ -0,0 +1,219 @@
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|
| 1 |
+
# Blender 3.4.1
|
| 2 |
+
# www.blender.org
|
| 3 |
+
mtllib living_room_table_col.mtl
|
| 4 |
+
o Cube
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| 6 |
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| 8 |
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| 10 |
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| 11 |
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v 0.316062 -0.296215 0.275389
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| 12 |
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| 13 |
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| 30 |
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f 24/42/18 20/38/18 18/34/18 22/40/18
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| 112 |
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o Cube.003
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| 113 |
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|
| 114 |
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vt 0.625000 1.000000
|
| 204 |
+
vt 0.875000 0.750000
|
| 205 |
+
vt 0.375000 0.250000
|
| 206 |
+
vt 0.125000 0.500000
|
| 207 |
+
vt 0.625000 0.250000
|
| 208 |
+
vt 0.875000 0.500000
|
| 209 |
+
vt 0.375000 0.750000
|
| 210 |
+
vt 0.625000 0.750000
|
| 211 |
+
vt 0.375000 0.500000
|
| 212 |
+
vt 0.625000 0.500000
|
| 213 |
+
s 0
|
| 214 |
+
f 41/71/31 42/74/31 44/79/31 43/77/31
|
| 215 |
+
f 43/77/32 44/79/32 48/84/32 47/83/32
|
| 216 |
+
f 47/83/33 48/84/33 46/82/33 45/81/33
|
| 217 |
+
f 45/81/34 46/82/34 42/75/34 41/72/34
|
| 218 |
+
f 43/78/35 47/83/35 45/81/35 41/73/35
|
| 219 |
+
f 48/84/36 44/80/36 42/76/36 46/82/36
|
safelibero/libero/libero/assets/scenes/milk_body.xml
ADDED
|
@@ -0,0 +1,10 @@
|
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|
| 1 |
+
<mujoco>
|
| 2 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" quat="0.7071 0.7071 0.0 0.0" type="mesh" mesh="textured_vis" conaffinity="1" contype="1" group="1" material="textured" />
|
| 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="0.00037 -0.01500 0.00000" quat="0.70711 0.70711 0.00000 -0.00000" size="0.02625 0.02625 0.05475" conaffinity="0" contype="0" group="1" rgba="0.8 0.8 0.8 0.3" />
|
| 4 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 0.01352" quat="0.28687 0.64630 -0.28687 -0.64630" size="0.00218 0.01381 0.02631" conaffinity="0" contype="0" group="1" rgba="0.8 0.8 0.8 0.3" />
|
| 5 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.04784 -0.01344" quat="0.64203 0.29630 0.64203 0.29630" size="0.00218 0.01381 0.02631" conaffinity="0" contype="0" group="1" rgba="0.8 0.8 0.8 0.3" />
|
| 6 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00005 0.05849 0.00005" quat="0.50000 0.50000 -0.50000 -0.50000" size="0.00295 0.00348 0.02650" conaffinity="0" contype="0" group="1" rgba="0.8 0.8 0.8 0.3" />
|
| 7 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 8 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 9 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site" />
|
| 10 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/office_book_shelf/collision/office_book_shelf_ch.stl
ADDED
|
Binary file (1.08 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/office_book_shelf/office_book_shelf.mtl
ADDED
|
@@ -0,0 +1,12 @@
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|
| 1 |
+
# Blender 3.4.1 MTL File: 'office_book_shelf.blend'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl Chocofur_Interior_Scene_11.011
|
| 5 |
+
Ns 490.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.450000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
map_Kd ceramic.png
|
safelibero/libero/libero/assets/scenes/office_book_shelf/office_book_shelf.obj
ADDED
|
@@ -0,0 +1,726 @@
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| 1 |
+
# Blender 3.4.1
|
| 2 |
+
# www.blender.org
|
| 3 |
+
mtllib office_book_shelf.mtl
|
| 4 |
+
g Chocofur_Interior_Scene_11.113_Chocofur_Interior_Scene_11.040
|
| 5 |
+
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| 6 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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v -0.031072 0.206686 0.000000
|
| 11 |
+
v -0.031072 0.206686 2.150000
|
| 12 |
+
v -0.851072 0.206686 0.000000
|
| 13 |
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v -0.851072 0.206686 2.150000
|
| 14 |
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| 15 |
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|
| 17 |
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|
| 18 |
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|
| 20 |
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|
| 21 |
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|
| 24 |
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|
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|
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
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|
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|
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f 147/214/3 155/222/3 107/150/3 106/149/3
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| 667 |
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f 105/148/5 106/149/5 107/150/5 104/146/5
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f 133/193/5 124/175/5 163/237/5 172/255/5
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f 193/294/4 105/148/4 162/235/4 157/224/4
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f 129/185/6 136/199/6 175/261/6 168/247/6
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|
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f 98/137/4 89/119/4 156/223/4 160/231/4
|
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|
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|
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f 134/196/4 135/198/4 174/259/4 173/257/4
|
| 696 |
+
f 136/200/2 135/197/2 174/258/2 175/260/2
|
| 697 |
+
f 135/198/5 126/180/5 165/241/5 174/259/5
|
| 698 |
+
f 97/135/6 98/137/6 160/231/6 159/229/6
|
| 699 |
+
f 128/184/4 131/190/4 170/250/4 167/244/4
|
| 700 |
+
f 167/245/3 168/247/3 175/261/3 176/263/3
|
| 701 |
+
f 169/249/3 170/251/3 177/265/3 178/267/3
|
| 702 |
+
f 156/223/3 158/227/3 159/229/3 160/231/3
|
| 703 |
+
f 165/241/3 166/243/3 173/257/3 174/259/3
|
| 704 |
+
f 163/237/3 164/239/3 171/253/3 172/255/3
|
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+
f 198/302/3 157/224/3 162/235/3 161/233/3
|
| 706 |
+
f 185/280/1 179/268/1 180/272/1 186/281/1
|
| 707 |
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f 190/287/2 183/276/2 182/274/2 187/283/2
|
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f 189/286/4 184/278/4 179/269/4 185/279/4
|
| 709 |
+
f 183/275/6 180/271/6 179/270/6 184/277/6
|
| 710 |
+
f 95/132/4 189/286/4 185/279/4 191/290/4
|
| 711 |
+
f 182/274/6 183/275/6 184/277/6 181/273/6
|
| 712 |
+
f 188/285/4 181/273/4 184/278/4 189/286/4
|
| 713 |
+
f 186/281/2 180/272/2 183/276/2 190/287/2
|
| 714 |
+
f 191/291/1 185/280/1 186/281/1 192/293/1
|
| 715 |
+
f 192/293/2 186/281/2 190/287/2 93/127/2
|
| 716 |
+
f 95/132/3 93/127/3 190/287/3 189/286/3
|
| 717 |
+
f 188/285/5 189/286/5 190/287/5 187/283/5
|
| 718 |
+
f 197/301/1 196/299/1 198/303/1 157/225/1
|
| 719 |
+
f 187/283/2 182/274/2 195/297/2 196/299/2
|
| 720 |
+
f 181/273/4 188/285/4 197/301/4 194/296/4
|
| 721 |
+
f 187/282/4 91/122/4 198/304/4 196/298/4
|
| 722 |
+
f 193/295/2 188/284/2 197/300/2 157/226/2
|
| 723 |
+
f 182/274/6 181/273/6 194/296/6 195/297/6
|
| 724 |
+
f 188/285/5 187/283/5 196/299/5 197/301/5
|
| 725 |
+
f 195/297/3 194/296/3 197/301/3 196/299/3
|
| 726 |
+
l 74 72
|
safelibero/libero/libero/assets/scenes/office_book_shelf/office_book_shelf.xml
ADDED
|
@@ -0,0 +1,15 @@
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|
| 1 |
+
<mujoco model="office_book_shelf">
|
| 2 |
+
<asset>
|
| 3 |
+
<texture file="ceramic.png" name="tex-office_book_shelf" type="2d" />
|
| 4 |
+
<material name="office_book_shelf" reflectance="0.5" texrepeat="1 1" texture="tex-office_book_shelf" texuniform="false" />
|
| 5 |
+
<mesh file="visual/office_book_shelf_vis.msh" name="office_book_shelf_vis" scale="1.0 1.0 1.0" /><mesh file="collision/office_book_shelf_ch.stl" name="office_book_shelf_coll" scale="1.0 1.0 1.0" /></asset>
|
| 6 |
+
<worldbody>
|
| 7 |
+
<body>
|
| 8 |
+
<body name="object">
|
| 9 |
+
<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="office_book_shelf_vis" conaffinity="0" contype="0" group="1" material="office_book_shelf" /><geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="office_book_shelf_coll" group="0" rgba="0.8 0.8 0.8 0.0" /></body>
|
| 10 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="bottom_site" />
|
| 11 |
+
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="top_site" />
|
| 12 |
+
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site" />
|
| 13 |
+
</body>
|
| 14 |
+
</worldbody>
|
| 15 |
+
</mujoco>
|
safelibero/libero/libero/assets/scenes/office_book_shelf/visual/office_book_shelf_vis.msh
ADDED
|
Binary file (45.2 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/plant/collision/plant_ch.stl
ADDED
|
Binary file (11.6 kB). View file
|
|
|
safelibero/libero/libero/assets/scenes/plant/plant.mtl
ADDED
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@@ -0,0 +1,13 @@
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|
| 1 |
+
# Blender 3.4.1 MTL File: 'None'
|
| 2 |
+
# www.blender.org
|
| 3 |
+
|
| 4 |
+
newmtl Chocofur_Flowers_34
|
| 5 |
+
Ns 250.000000
|
| 6 |
+
Ka 1.000000 1.000000 1.000000
|
| 7 |
+
Ks 0.500000 0.500000 0.500000
|
| 8 |
+
Ke 0.000000 0.000000 0.000000
|
| 9 |
+
Ni 1.000000
|
| 10 |
+
d 1.000000
|
| 11 |
+
illum 2
|
| 12 |
+
map_Kd plant_texture.png
|
| 13 |
+
|