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@@ -80,3 +80,25 @@ assets/libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vi
 assets/libero/scenes/living_room/visual/living_room_vis.msh filter=lfs diff=lfs merge=lfs -text
 assets/libero/scenes/living_room_table/collision/living_room_table_ch.stl filter=lfs diff=lfs merge=lfs -text
 assets/libero/scenes/living_room_table/visual/living_room_table_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/alphabet_soup/mjcf/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/mjcf/visual/basket_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/urdf/meshes/basket_vis.obj filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/butter/mjcf/visual/butter_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/cream_cheese/mjcf/visual/cream_cheese_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/ketchup/mjcf/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/milk/mjcf/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/orange_juice/mjcf/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/tomato_sauce/mjcf/visual/textured_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_hope_objects/tomato_sauce/urdf/meshes/textured_vis.obj filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_scanned_objects/akita_black_bowl/mjcf/visual/akita_black_bowl_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_scanned_objects/chefmate_8_frypan/mjcf/visual/chefmate_8_frypan_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/stable_scanned_objects/plate/mjcf/visual/model_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/COMMON/turbosquid_objects/moka_pot/mjcf/visual/moka_pot_body_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/fridge/visual/fridge_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/kitchen_background/visual/kitchen_background_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/kitchen_background_hot_pot/visual/kitchen_background_hot_pot_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/kitchen_background_pot/visual/kitchen_background_pot_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/kitchen_background_stove/visual/kitchen_background_stove_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/living_room/visual/living_room_vis.msh filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/living_room_table/collision/living_room_table_ch.stl filter=lfs diff=lfs merge=lfs -text
+roboverse_data/assets/libero/scenes/living_room_table/visual/living_room_table_vis.msh filter=lfs diff=lfs merge=lfs -text

roboverse_data/assets/libero/COMMON/articulated_objects/flat_stove/mjcf/flat_stove.xml

@@ -0,0 +1,67 @@
+<mujoco model="flat_stove">
+    <compiler angle="radian" meshdir="./" />
+    <size njmax="500" nconmax="100" />
+    <asset>
+      <texture file="flat_stove/metal.png" name="tex-stove_knob" type="2d"/>
+      <material name="stove_knob_base" reflectance="0.5" texrepeat="1 1" texture="tex-stove_knob" texuniform="false"/>
+      <mesh file="flat_stove/stove_knob_base/visual/stove_knob_base_vis.msh" name="stove_knob_base_vis" scale="1.0 1.0 1.0"/>      
+      <texture file="flat_stove/button_dark_texture.png" name="tex-stove_button" type="2d"/>
+      <material name="stove_knob_button" reflectance="0.5" texrepeat="1 1" texture="tex-stove_button" texuniform="false"/>
+      <mesh file="flat_stove/stove_knob_button/visual/stove_knob_button_vis.msh" name="stove_knob_button_vis" scale="1.0 1.0 1.0"/>
+      <texture file="flat_stove/metal.png" name="tex-stove_metal" type="2d"/>
+      <material name="stove_knob_metal" reflectance="0.5" texrepeat="1
+								     1"
+		texture="tex-stove_metal" texuniform="false" shininess="1.0"/>
+      <mesh file="./flat_stove/stove_burner/burnerplate.stl" name="burnerplate" scale="0.55 0.55 0.45" />
+    </asset>
+    <worldbody>
+        <body>
+          <body name="object">
+	    <body name="base" pos="0 0.0 0.0">
+	      <body name="burner" pos="0.15 0 0">
+		<site type="box" pos="0 0 0.0" quat="1 0 0 0" size="0.075 0.075 0.0025" group="0" rgba="0.8 0.8 0. 0" name="cook_region"/>
+		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="1" name="base_vis"/>
+		<geom size="0.095 0.095 0.02" pos="0 0 0" type="box" material="stove_knob_metal" group="0" name="base"/>
+		<geom size="0.095 0.095 0.0005" pos="0 0 0.025" type="box" rgba="0 0 0 0" group="0" name="collision_burner"/>
+		<body name="burner_plate">
+	       	  <geom pos="0 0 0.025" type="mesh" mesh="burnerplate"
+			material="stove_knob_metal" group="1" name="burner"
+			contype="0" conaffinity="0"/>
+		</body>
+		<site name="burner" pos="0. 0. 0.022" size="0.0625 0.0005" rgba="0.9 0.05 0.05 1" type="cylinder"/>
+	      </body>	      
+	      <body name="button" pos="0 0.0 0" quat="0.7071068 0 0 0.7071068">
+                <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
+                <joint name="button" type="hinge" pos="0 0 0" axis="0 0 1"
+		       limited="true" range="-0.005 2.1" damping="1"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1"
+		      density="100" friction="0.95 0.3 0.1"
+		      type="mesh" mesh="stove_knob_button_vis"
+		      conaffinity="0" contype="0" group="1" rgba="0.1 0.1 0.1 1.0"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00132 0.00458 0.00657" quat="0.00206 -0.70710 0.00206 0.70710" size="0.00621 0.03396 0.03396" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00111 -0.03234 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00296 0.00621 0.02939" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00108 -0.03650 0.00657" quat="0.49855 -0.49855 0.50145 -0.50145" size="0.00211 0.00621 0.02497" 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="0.00105 -0.04112 0.00657" quat="0.49854 0.49854 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" 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="0.00158 0.04983 0.00657" quat="0.49855 0.49855 -0.50145 -0.50145" size="0.00211 0.00621 0.01416" 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="0.00156 0.04640 0.00657" quat="0.50145 0.50145 0.49855 0.49855" size="0.00211 0.00621 0.02497" 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="0.00154 0.04175 0.00657" quat="0.50145 0.50145 0.49854 0.49854" size="0.00296 0.00621 0.02939" 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="0.03850 0.00412 0.00657" quat="0.70709 0.70709 -0.00429 -0.00429" size="0.00296 0.00621 0.02939" 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="0.04314 0.00407 0.00657" quat="0.00429 0.00429 0.70709 0.70709" size="0.00211 0.00621 0.02497" 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="0.04657 0.00403 0.00657" quat="0.70709 0.70709 -0.00431 -0.00431" size="0.00211 0.00621 0.01416" 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="-0.04392 0.00544 0.00657" quat="0.70707 0.70707 -0.00674 -0.00674" size="0.00211 0.00621 0.01416" group="0" rgba="0.8 0.8 0.8 0.3"/>
+		<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.04049 0.00537 0.00657" quat="0.00673 0.00673 0.70707 0.70707" size="0.00211 0.00621 0.02497" 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="-0.03585 0.00528 0.00657" quat="0.70707 -0.70707 0.00674 -0.00674" size="0.00296 0.00621 0.02939" 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="0.00139 0.01737 0.02570" quat="0.00205 0.00205 0.70710 0.70710" size="0.01214 0.02432 0.03454" 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="0.00118 -0.02003 0.02439" quat="-0.00000 -0.70916 -0.70505 -0.00000" size="0.00776 0.01214 0.02048" 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="0.00115 -0.02496 0.02505" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00776 0.01214 0.01739" 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="0.00108 -0.03643 0.01715" quat="0.00000 -0.70505 0.70916 0.00000" size="0.00415 0.01214 0.01661" 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>

roboverse_data/assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/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">
+	    <body name="base" pos="0 0 0.0">
+		<site type="box" pos="0.00354 0.01567 0.22152" quat="1 0 0 0" size="0.12534 0.09438 0.00147" group="0" rgba="0.8 0.8 0 0" name="top_side"/>
+	      <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_base_vis" conaffinity="0" contype="0" group="1" material="wooden_cabinet_base"/>
+<geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="0.00397 0.10954 0.11350" quat="0.49988 -0.50104 -0.50012 0.49896" size="0.00193 0.10453 0.11106" 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="0.00405 0.01635 0.00686" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00199 0.08960 0.12277" 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="-0.11216 0.01625 0.11426" quat="0.00000 0.00000 1.00000 0.00000" size="0.00517 0.09542 0.10584" 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="0.00408 0.01868 0.00933" quat="0.00065 -0.70792 0.00065 0.70629" size="0.00085 0.08935 0.11168" 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="0.00392 0.01868 0.07928" quat="0.70792 0.00065 0.70629 -0.00065" size="0.00085 0.08935 0.11168" 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="0.00394 0.01577 0.22157" quat="0.70711 0.00000 0.70711 0.00000" size="0.00142 0.09409 0.12729" group="0" rgba="0.8 0.8 0.8 0.3"/>
+	      <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"/>
+		<geom 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 0.18358" 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="0.00334 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"/>
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roboverse_data/assets/libero/COMMON/stable_hope_objects/alphabet_soup/mjcf/alphabet_soup.xml

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roboverse_data/assets/libero/COMMON/stable_hope_objects/alphabet_soup/mjcf/visual/textured_vis.msh

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roboverse_data/assets/libero/COMMON/stable_hope_objects/alphabet_soup/urdf/alphabet_soup.urdf

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roboverse_data/assets/libero/COMMON/stable_hope_objects/alphabet_soup/urdf/meshes/textured_vis.mtl

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roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/mjcf/basket.xml

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+  <asset>
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+    <material name="basket" reflectance="0.5" texrepeat="1 1" texture="tex-basket" texuniform="false"/>
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roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/mjcf/visual/basket_vis.msh

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roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/urdf/basket.urdf

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+<?xml version="1.0" ?>
+<robot name="converted_from_mjcf">
+  <link name="world_link"/>
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+      <material name="basket">
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roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/urdf/meshes/basket_vis.mtl

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roboverse_data/assets/libero/COMMON/stable_hope_objects/basket/urdf/meshes/basket_vis.obj

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roboverse_data/assets/libero/COMMON/stable_hope_objects/bbq_sauce/mjcf/bbq_sauce.xml

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+<mujoco model="bbq_sauce">
+  <asset>
+    <texture file="texture_map.png" name="tex-bbq_sauce" type="2d"/>
+    <material name="bbq_sauce" reflectance="0.5" texrepeat="1 1" texture="tex-bbq_sauce" texuniform="false"/>
+    <mesh file="visual/bbq_sauce_vis.msh" name="bbq_sauce_vis" scale="0.0077 0.0077 0.0077"/>
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+</mujoco>

roboverse_data/assets/libero/COMMON/stable_hope_objects/butter/mjcf/butter.xml

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+<mujoco model="butter">
+  <asset>
+    <texture file="texture_map.png" name="tex-butter" type="2d"/>
+    <material name="butter" reflectance="0.5" texrepeat="1 1" texture="tex-butter" texuniform="false"/>
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+    <site rgba="0 0 0 0" size="0.005" pos="0.02 0.02 0" name="horizontal_radius_site"/>
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+</mujoco>

roboverse_data/assets/libero/COMMON/stable_hope_objects/butter/mjcf/visual/butter_vis.msh

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+version https://git-lfs.github.com/spec/v1
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+size 1554676

roboverse_data/assets/libero/COMMON/stable_hope_objects/cream_cheese/mjcf/cream_cheese.xml

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+<mujoco model="cream_cheese">
+  <asset>
+    <texture file="texture_map.png" name="tex-cream_cheese" type="2d"/>
+    <material name="cream_cheese" reflectance="0.5" texrepeat="1 1" texture="tex-cream_cheese" texuniform="false"/>
+    <mesh file="visual/cream_cheese_vis.msh" name="cream_cheese_vis" scale="0.008 0.008 0.008"/>
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+  <worldbody>
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+</mujoco>

roboverse_data/assets/libero/COMMON/stable_hope_objects/cream_cheese/mjcf/visual/cream_cheese_vis.msh

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+size 1753612

roboverse_data/assets/libero/COMMON/stable_hope_objects/cream_cheese/urdf/cream_cheese.urdf

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+<?xml version="1.0" ?>
+<robot name="converted_from_mjcf">
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+      <material name="cream_cheese">
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+  <joint name="object_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0.0 0.0 0.0"/>
+    <parent link="world_link"/>
+    <child link="object"/>
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roboverse_data/assets/libero/COMMON/stable_hope_objects/cream_cheese/urdf/meshes/cream_cheese_vis.mtl

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roboverse_data/assets/libero/COMMON/stable_hope_objects/ketchup/mjcf/ketchup.xml

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+<mujoco model="textured">
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+    <material name="textured" reflectance="0.5" texrepeat="1 1" texture="tex-textured" texuniform="false" />
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+  <worldbody>
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roboverse_data/assets/libero/COMMON/stable_hope_objects/ketchup/mjcf/visual/textured_vis.msh

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roboverse_data/assets/libero/COMMON/stable_hope_objects/ketchup/urdf/ketchup.urdf

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roboverse_data/assets/libero/COMMON/stable_hope_objects/ketchup/urdf/meshes/textured_vis.mtl

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