Hugging Face's logo

Datasets:
yuchi233
/
Placement_Assets

Tasks:
Robotics
Tags:
robotics
mujoco
mjcf
assets
placement
License:
Dataset card Files
xet
 Community
yuchi233 commited on
Commit
d76b924
·
verified ·
1 Parent(s): 3df1042

Upload folder using huggingface_hub (part 7)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. assets/robocasa/fixtures/dishwashers/Dishwasher048/metadata.yaml +17 -0
  2. assets/robocasa/fixtures/dishwashers/Dishwasher048/model.xml +128 -0
  3. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Body001.obj +3 -0
  4. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Button001.obj +3 -0
  5. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Container001.obj +3 -0
  6. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Container002.obj +3 -0
  7. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Door001.obj +3 -0
  8. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Handle001.obj +3 -0
  9. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/T_BC001.png +3 -0
  10. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/button_power.obj +3 -0
  11. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/door.obj +3 -0
  12. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/rack0.obj +3 -0
  13. assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/rack1.obj +3 -0
  14. assets/robocasa/fixtures/dishwashers/Dishwasher049/metadata.yaml +17 -0
  15. assets/robocasa/fixtures/dishwashers/Dishwasher049/model.xml +145 -0
  16. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Body001.obj +3 -0
  17. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button001.obj +3 -0
  18. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button002.obj +3 -0
  19. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button003.obj +3 -0
  20. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button004.obj +3 -0
  21. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button005.obj +3 -0
  22. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Container001.obj +3 -0
  23. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Container002.obj +3 -0
  24. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Door001.obj +3 -0
  25. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Handle001.obj +3 -0
  26. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/T_BC001.png +3 -0
  27. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/button_power.obj +3 -0
  28. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/door.obj +3 -0
  29. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/rack0.obj +3 -0
  30. assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/rack1.obj +3 -0
  31. assets/robocasa/fixtures/dishwashers/Dishwasher051/metadata.yaml +17 -0
  32. assets/robocasa/fixtures/dishwashers/Dishwasher051/model.xml +108 -0
  33. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Body001.obj +3 -0
  34. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Button001.obj +3 -0
  35. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Contanier001.obj +3 -0
  36. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Contanier002.obj +3 -0
  37. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Door001.obj +3 -0
  38. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Handle001.obj +3 -0
  39. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/T_BC001.png +3 -0
  40. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/button_power.obj +3 -0
  41. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/door.obj +3 -0
  42. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/rack0.obj +3 -0
  43. assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/rack1.obj +3 -0
  44. assets/robocasa/fixtures/dishwashers/Dishwasher053/metadata.yaml +17 -0
  45. assets/robocasa/fixtures/dishwashers/Dishwasher053/model.xml +168 -0
  46. assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Body001.obj +3 -0
  47. assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Button001.obj +3 -0
  48. assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Door001.obj +3 -0
  49. assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Handle001.obj +3 -0
  50. assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Shelf001.obj +3 -0
assets/robocasa/fixtures/dishwashers/Dishwasher048/metadata.yaml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ asset_id: robocasa.fixtures.dishwashers.Dishwasher048
2
+ source: robocasa
3
+ source_asset_id: Dishwasher048
4
+ asset_type: fixtures
5
+ category: dishwashers
6
+ format: mjcf
7
+ entry_file: model.xml
8
+ license: CC-BY-4.0
9
+ origin_url: https://robocasa.ai
10
+ path: assets/robocasa/fixtures/dishwashers/Dishwasher048
11
+ tags:
12
+ - robocasa
13
+ - mujoco
14
+ - mjcf
15
+ - kitchen
16
+ - dishwasher
17
+ - fixture
assets/robocasa/fixtures/dishwashers/Dishwasher048/model.xml ADDED
@@ -0,0 +1,128 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='UTF-8'?>
2
+ <mujoco model="model">
3
+ <option timestep="0.002" gravity="0.0 0.0 -9.81"/>
4
+ <compiler angle="radian"/>
5
+ <asset>
6
+ <mesh file="visuals/button_power.obj" name="button_power_vis"/>
7
+ <mesh file="visuals/Body001.obj" name="Body001_vis"/>
8
+ <mesh file="visuals/door.obj" name="door_vis"/>
9
+ <mesh file="visuals/rack0.obj" name="rack0_vis"/>
10
+ <mesh file="visuals/rack1.obj" name="rack1_vis"/>
11
+ <texture file="visuals/T_BC001.png" name="Body001_material" type="2d"/>
12
+ <material name="Body001_material" rgba="1 1 1 1.0" texture="Body001_material" shininess="0.141421377658844" specular="2"/>
13
+ <texture file="visuals/T_BC001.png" name="button_power_material" type="2d"/>
14
+ <material name="button_power_material" rgba="1 1 1 1.0" texture="button_power_material" shininess="0.141421377658844" specular="2"/>
15
+ <texture file="visuals/T_BC001.png" name="door_material" type="2d"/>
16
+ <material name="door_material" rgba="1 1 1 1.0" texture="door_material" shininess="0.141421377658844" specular="2"/>
17
+ <texture file="visuals/T_BC001.png" name="rack0_material" type="2d"/>
18
+ <material name="rack0_material" rgba="1 1 1 1.0" texture="rack0_material" shininess="0.141421377658844" specular="2"/>
19
+ <texture file="visuals/T_BC001.png" name="rack1_material" type="2d"/>
20
+ <material name="rack1_material" rgba="1 1 1 1.0" texture="rack1_material" shininess="0.141421377658844" specular="2"/>
21
+ </asset>
22
+ <default>
23
+ <default class="visual">
24
+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
25
+ </default>
26
+ <default class="collision">
27
+ <geom group="0" rgba="0.5 0 0 0.5"/>
28
+ </default>
29
+ <default class="spawn">
30
+ <geom group="0" rgba="1 1 1 0.5" contype="0" conaffinity="0"/>
31
+ <site group="0" rgba="1 1 1 0.5"/>
32
+ </default>
33
+ <default class="region">
34
+ <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
35
+ </default>
36
+ </default>
37
+ <worldbody>
38
+ <body>
39
+ <body name="object">
40
+ <geom mesh="Body001_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Body001_material"/>
41
+ <geom class="collision" type="box" pos="-0.31870374 0.03623243 0.00660265" size="0.01068453211337328 0.29174354672431946 0.29694995284080505" quat="1.0 0.0 0.0 0.0"/>
42
+ <geom class="collision" type="box" pos="0.31925637 -0.00324653 0.00837685" size="0.010131948627531528 0.2581738829612732 0.2944124937057495" quat="1.0 0.0 0.0 0.0"/>
43
+ <geom class="collision" type="box" pos="0.00000001 0.04001891 0.39582330" size="0.3293881118297577 0.3270302712917328 0.09313099831342697" quat="1.0 0.0 0.0 0.0"/>
44
+ <geom class="collision" type="box" pos="-0.00000001 0.03751531 -0.38746178" size="0.3293883204460144 0.3295339047908783 0.10149198025465012" quat="1.0 0.0 0.0 0.0"/>
45
+ <geom class="collision" type="box" pos="-0.00000006 0.30962720 0.00752324" size="0.3293883502483368 0.057421986013650894 0.2979374825954437" quat="1.0 0.0 0.0 0.0"/>
46
+ <geom class="collision" type="box" pos="0.30428690 0.00282598 -0.09622507" size="0.012510878965258598 0.20189034938812256 0.00228360528126359" quat="1.0 0.0 0.0 0.0"/>
47
+ <geom class="collision" type="box" pos="0.30428690 0.00282598 0.17162235" size="0.012510878965258598 0.20189034938812256 0.00228360528126359" quat="1.0 0.0 0.0 0.0"/>
48
+ <geom class="collision" type="box" pos="-0.29880443 0.00282598 -0.09622507" size="0.012510878965258598 0.20189034938812256 0.00228360528126359" quat="1.0 0.0 0.0 0.0"/>
49
+ <geom class="collision" type="box" pos="-0.29880443 0.00282598 0.17162235" size="0.012510878965258598 0.20189034938812256 0.00228360528126359" quat="1.0 0.0 0.0 0.0"/>
50
+ <body name="button_power">
51
+ <joint axis="0.0 1.0 0.0" pos="-0.25283110 -0.29305256 0.37646499" limited="true" name="button_power_joint" range="0.0 0.005" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="4" springref="-1"/>
52
+ <geom mesh="button_power_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="button_power_material"/>
53
+ <geom class="collision" type="box" pos="-0.25286633 -0.29398823 0.37655270" size="0.01696334406733513 0.0026795221492648125 0.01153666153550148" quat="1.0 0.0 0.0 0.0"/>
54
+ </body>
55
+ <body name="door">
56
+ <joint axis="1.0 1.3234889800848443e-23 -6.617444900424222e-24" pos="-2e-08 -0.29201846428348543 -0.2829750099308777" limited="true" name="door_joint" range="0.0 0.8235987755982988" type="hinge" damping="1" frictionloss="10" armature="1" stiffness="2"/>
57
+ <geom mesh="door_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="door_material"/>
58
+ <geom class="collision" type="box" pos="-0.00000002 -0.27800802 0.00608147" size="0.32938823103904724 0.014010444283485413 0.2890564799308777" quat="1.0 0.0 0.0 0.0" name="door_main"/>
59
+ <geom class="collision" type="box" pos="-0.00129120 -0.35357145 0.28473186" size="0.28864985704421997 0.014407920651137829 0.018942633643746376" quat="1.0 0.0 0.0 0.0" name="door_handle_main"/>
60
+ <geom class="collision" type="box" pos="0.27224612 -0.31252459 0.28473186" size="0.025254618376493454 0.013897830620408058 0.01894262433052063" quat="0.7071067094802856 0.0 0.0 0.7071068286895752"/>
61
+ <geom class="collision" type="box" pos="-0.27395731 -0.31252459 0.28473186" size="0.025254618376493454 0.015166748315095901 0.01894262805581093" quat="0.7071067094802856 0.0 0.0 0.7071068286895752"/>
62
+ </body>
63
+ <body name="rack0">
64
+ <geom class="region" name="reg_rack0" type="box" pos="-0.0009123699999999957 0.00018641499999999533 -0.039137985" size="0.2630205 0.205407995 0.101146255"/>
65
+ <joint axis="0.0 -1.0 0.0" pos="0.00013572 -0.00016341 -0.13796558" limited="true" name="rack0_joint" range="0.0 0.35" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
66
+ <geom mesh="rack0_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack0_material"/>
67
+ <geom class="collision" type="box" pos="0.27035937 -0.00224619 -0.13361231" size="0.22334714233875275 0.002674975199624896 0.05057617649435997" quat="0.7071068286895752 -4.406464881867578e-08 7.090035580858967e-08 -0.7071067094802856"/>
68
+ <geom class="collision" type="box" pos="-0.27138492 -0.00224619 -0.13361231" size="0.22334714233875275 0.0028053002897650003 0.05057617649435997" quat="0.7071068286895752 -4.406464881867578e-08 7.090035580858967e-08 -0.7071067094802856"/>
69
+ <geom class="collision" type="box" pos="-0.22943766 -0.00224619 -0.15446097" size="0.21458998322486877 0.002737002680078149 0.03179175406694412" quat="7.061601081659319e-08 0.7071068286895752 -0.7071067690849304 -2.0474153927807492e-07"/>
70
+ <geom class="collision" type="box" pos="0.00169437 -0.21479677 -0.13361231" size="0.27327457070350647 0.004980974830687046 0.05057617649435997" quat="1.0 -8.146032826061855e-08 0.0 0.0"/>
71
+ <geom class="collision" type="box" pos="-0.13903259 -0.00224619 -0.15497196" size="0.21458998322486877 0.002737002680078149 0.03427965193986893" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
72
+ <geom class="collision" type="box" pos="-0.04862753 -0.00224619 -0.15752694" size="0.21458998322486877 0.002737002680078149 0.03427965193986893" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
73
+ <geom class="collision" type="box" pos="0.05947249 -0.00224619 -0.15573846" size="0.21458998322486877 0.002737002680078149 0.03158159554004669" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
74
+ <geom class="collision" type="box" pos="0.22509716 -0.00224619 -0.14746031" size="0.21458998322486877 0.002737002680078149 0.025414342060685158" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
75
+ <geom class="collision" type="box" pos="0.28622514 -0.00224620 -0.08486326" size="0.22116327285766602 0.0035710958763957024 0.012887637130916119" quat="0.5000000596046448 -0.5 0.5 -0.4999999403953552"/>
76
+ <geom class="collision" type="box" pos="-0.28095403 -0.00224620 -0.08486326" size="0.22116327285766602 0.0035710958763957024 0.012887637130916119" quat="0.5000000596046448 -0.5 0.5 -0.4999999403953552"/>
77
+ <geom class="collision" type="box" pos="-0.25283471 -0.00224617 -0.18441770" size="0.2233489751815796 0.004171113017946482 0.020253051072359085" quat="0.4960270822048187 -0.5021468997001648 0.5056757926940918 -0.49608224630355835"/>
78
+ <geom class="collision" type="box" pos="0.00169437 0.21581901 -0.13361231" size="0.27327457070350647 0.004980974830687046 0.05057617649435997" quat="1.0 -8.146032826061855e-08 0.0 0.0"/>
79
+ <geom class="collision" type="box" pos="-0.15769352 -0.00224615 -0.17838706" size="0.21458998322486877 0.002737002680078149 0.011894537135958672" quat="0.10663479566574097 -0.6990200877189636 0.6990200281143188 -0.10663466155529022"/>
80
+ <geom class="collision" type="box" pos="-0.06491096 -0.00224614 -0.18502015" size="0.21458998322486877 0.002737002680078149 0.015286398120224476" quat="0.06162836775183678 -0.704416036605835 0.704416036605835 -0.06162821501493454"/>
81
+ <geom class="collision" type="box" pos="0.04077546 -0.00224613 -0.17528051" size="0.21458998322486877 0.002737002680078149 0.02019345574080944" quat="0.06162836775183678 -0.704416036605835 0.704416036605835 -0.06162821501493454"/>
82
+ <geom class="collision" type="box" pos="-0.25391391 -0.00224622 -0.18429542" size="0.21458998322486877 0.002737002680078149 0.01933000609278679" quat="0.5012120604515076 -0.4987850785255432 0.49878495931625366 -0.5012120008468628"/>
83
+ <geom class="collision" type="box" pos="0.25278932 -0.00224612 -0.17749869" size="0.21458998322486877 0.002737002680078149 0.01933000609278679" quat="0.5012120604515076 -0.4987850785255432 0.49878495931625366 -0.5012120008468628"/>
84
+ <geom class="collision" type="box" pos="-0.20066254 -0.00224620 -0.17719308" size="0.21458998322486877 0.002737002680078149 0.043117646127939224" quat="0.544306218624115 -0.45136553049087524 0.4513653814792633 -0.5443061590194702"/>
85
+ <geom class="collision" type="box" pos="-0.11098495 -0.00224618 -0.18012677" size="0.21458998322486877 0.002737002680078149 0.04727865010499954" quat="0.544306218624115 -0.45136553049087524 0.4513653814792633 -0.5443061590194702"/>
86
+ <geom class="collision" type="box" pos="-0.01311903 -0.00224616 -0.17865822" size="0.21458998322486877 0.002737002680078149 0.054874345660209656" quat="0.5840214490890503 -0.3986464738845825 0.3986463248729706 -0.5840213894844055"/>
87
+ <geom class="collision" type="box" pos="0.10165671 -0.00224614 -0.17234737" size="0.21458998322486877 0.002737002680078149 0.06477890908718109" quat="0.5826183557510376 -0.400694340467453 0.40069419145584106 -0.5826182961463928"/>
88
+ <geom class="collision" type="box" pos="0.19804606 -0.00224614 -0.16353090" size="0.21458998322486877 0.002737002680078149 0.04006359726190567" quat="0.39856216311454773 -0.5840790271759033 0.5840789079666138 -0.39856210350990295"/>
89
+ </body>
90
+ <body name="rack1">
91
+ <geom class="region" name="reg_rack1" type="box" pos="-0.0009488450000000037 -2.460999999999436e-05 0.21016203" size="0.263020495 0.20540798999999998 0.08842664"/>
92
+ <joint axis="0.0 -1.0 0.0" pos="0.00013572 -0.00016336 0.12793933" limited="true" name="rack1_joint" range="0.0 0.35" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
93
+ <geom mesh="rack1_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack1_material"/>
94
+ <geom class="collision" type="box" pos="0.00169437 0.21581907 0.13229260" size="0.27327457070350647 0.004980974830687046 0.05057617649435997" quat="1.0 -8.146032826061855e-08 0.0 0.0"/>
95
+ <geom class="collision" type="box" pos="0.00169437 -0.21479671 0.13229260" size="0.27327457070350647 0.004980974830687046 0.05057617649435997" quat="1.0 -8.146032826061855e-08 0.0 0.0"/>
96
+ <geom class="collision" type="box" pos="-0.27138492 -0.00224614 0.13229260" size="0.22334714233875275 0.0028053002897650003 0.05057617649435997" quat="0.7071068286895752 -4.406464881867578e-08 7.090035580858967e-08 -0.7071067094802856"/>
97
+ <geom class="collision" type="box" pos="0.27035937 -0.00224614 0.13229260" size="0.22334714233875275 0.002674975199624896 0.05057617649435997" quat="0.7071068286895752 -4.406464881867578e-08 7.090035580858967e-08 -0.7071067094802856"/>
98
+ <geom class="collision" type="box" pos="-0.25283471 -0.00224613 0.08223583" size="0.22334924340248108 0.004093677271157503 0.02025183103978634" quat="0.4960270822048187 -0.5021468997001648 0.5056757926940918 -0.49608224630355835"/>
99
+ <geom class="collision" type="box" pos="-0.28095403 -0.00224614 0.18104166" size="0.22116327285766602 0.0035710958763957024 0.012887637130916119" quat="0.5000000596046448 -0.5 0.5 -0.4999999403953552"/>
100
+ <geom class="collision" type="box" pos="0.28622514 -0.00224614 0.18104166" size="0.22116327285766602 0.0035710958763957024 0.012887637130916119" quat="0.5000000596046448 -0.5 0.5 -0.4999999403953552"/>
101
+ <geom class="collision" type="box" pos="0.22509716 -0.00224614 0.11844460" size="0.21458998322486877 0.002737002680078149 0.025414342060685158" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
102
+ <geom class="collision" type="box" pos="0.05947249 -0.00224614 0.11016645" size="0.21458998322486877 0.002737002680078149 0.03158159554004669" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
103
+ <geom class="collision" type="box" pos="-0.04862753 -0.00224614 0.10837796" size="0.21458998322486877 0.002737002680078149 0.03427965193986893" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
104
+ <geom class="collision" type="box" pos="-0.13903259 -0.00224614 0.11093294" size="0.21458998322486877 0.002737002680078149 0.03427965193986893" quat="7.06160250274479e-08 0.7071068286895752 -0.7071067690849304 -2.047415250672202e-07"/>
105
+ <geom class="collision" type="box" pos="-0.22943766 -0.00224614 0.11144394" size="0.21458998322486877 0.002737002680078149 0.03179175406694412" quat="7.061601081659319e-08 0.7071068286895752 -0.7071067690849304 -2.0474153927807492e-07"/>
106
+ <geom class="collision" type="box" pos="0.19804606 -0.00224614 0.10333477" size="0.21458998322486877 0.002737002680078149 0.04006359726190567" quat="0.39856216311454773 -0.5840790271759033 0.5840789079666138 -0.39856210350990295"/>
107
+ <geom class="collision" type="box" pos="0.10165671 -0.00224614 0.09451829" size="0.21458998322486877 0.002737002680078149 0.06477890908718109" quat="0.5826183557510376 -0.400694340467453 0.40069419145584106 -0.5826182961463928"/>
108
+ <geom class="collision" type="box" pos="-0.01311903 -0.00224616 0.08820745" size="0.21458998322486877 0.002737002680078149 0.054874345660209656" quat="0.5840214490890503 -0.3986464738845825 0.3986463248729706 -0.5840213894844055"/>
109
+ <geom class="collision" type="box" pos="0.04077546 -0.00224613 0.09158515" size="0.21458998322486877 0.002737002680078149 0.02019345574080944" quat="0.06162836775183678 -0.704416036605835 0.704416036605835 -0.06162821501493454"/>
110
+ <geom class="collision" type="box" pos="-0.06491096 -0.00224614 0.08184552" size="0.21458998322486877 0.002737002680078149 0.015286398120224476" quat="0.06162836775183678 -0.704416036605835 0.704416036605835 -0.06162821501493454"/>
111
+ <geom class="collision" type="box" pos="-0.11098495 -0.00224618 0.08673888" size="0.21458998322486877 0.002737002680078149 0.04727865010499954" quat="0.544306218624115 -0.45136553049087524 0.4513653814792633 -0.5443061590194702"/>
112
+ <geom class="collision" type="box" pos="-0.15769352 -0.00224615 0.08847861" size="0.21458998322486877 0.002737002680078149 0.011894537135958672" quat="0.10663479566574097 -0.6990200877189636 0.6990200281143188 -0.10663466155529022"/>
113
+ <geom class="collision" type="box" pos="-0.20066254 -0.00224620 0.08967259" size="0.21458998322486877 0.002737002680078149 0.043117646127939224" quat="0.544306218624115 -0.45136553049087524 0.4513653814792633 -0.5443061590194702"/>
114
+ <geom class="collision" type="box" pos="0.25278932 -0.00224612 0.08936698" size="0.21458998322486877 0.002737002680078149 0.01933000609278679" quat="0.5012120604515076 -0.4987850785255432 0.49878495931625366 -0.5012120008468628"/>
115
+ <geom class="collision" type="box" pos="-0.25391391 -0.00224622 0.08257024" size="0.21458998322486877 0.002737002680078149 0.01933000609278679" quat="0.5012120604515076 -0.4987850785255432 0.49878495931625366 -0.5012120008468628"/>
116
+ </body>
117
+ <geom class="region" name="reg_int" type="box" pos="0.00011379999999999724 -0.0044694450000000024 0.009012235000000007" size="0.30461353 0.253965795 0.28934737499999996"/>
118
+ <geom class="region" name="reg_main" type="box" pos="4.999999997368221e-09 0.03839068000000001 2.7999999999139824e-07" size="0.330388205 0.32965855 0.48995407"/>
119
+ </body>
120
+ </body>
121
+ </worldbody>
122
+ <actuator>
123
+ <motor name="button_power_joint_actuator" joint="button_power_joint" gear="0.5"/>
124
+ <motor name="door_joint_actuator" joint="door_joint" gear="50"/>
125
+ <motor name="rack0_joint_actuator" joint="rack0_joint" gear="50"/>
126
+ <motor name="rack1_joint_actuator" joint="rack1_joint" gear="50"/>
127
+ </actuator>
128
+ </mujoco>
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Body001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:f654a661776dc32af79a164d1df92ec6f6ce86288ba116915018cb5f135221d7
3
+ size 1305619
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Button001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7879f9d5c189321ba5ff27b54bcdb16a573a3f40e41dac66e23a89655d0e2c7f
3
+ size 5450
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Container001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:39199ba3ff0c7766973b82c05cdb43f1f385d3244b03c69edf0978069aeeb90d
3
+ size 343124
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Container002.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a8336f34a2860e279f3e1265e4ff0101f80549debc884d49cc45205aad26e0e4
3
+ size 345868
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Door001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8036b17156b3c7eb73fd324085220f142e8e646d2ef281f975360ac7ce757be9
3
+ size 25137
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/Handle001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:38fe9a98686979e44714fd90e1bfd96b818b73d723ab28a421b462fd0264cfcc
3
+ size 17942
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/T_BC001.png ADDED

Git LFS Details

  • SHA256: 92df0856c2b23cf75527be9bd2b7be06a2bb71a29f92c5ba41c6a48ae57533cd
  • Pointer size: 130 Bytes
  • Size of remote file: 92.7 kB
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/button_power.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:bb75d7daca954134ddd06a43e863c4ab7fd268a207fbfdcaa8785db17eae3917
3
+ size 5679
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/door.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:22f4d9b0fbf54cbd7f31d2d07a5e145fb3c0e6cd5b7b3b04c25fb57231dbeba1
3
+ size 48744
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/rack0.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:fd6a7ed506fec20d447253ea8af16d45b7eb0ba9d3f35f9f1a99cc27e6f62216
3
+ size 210858
assets/robocasa/fixtures/dishwashers/Dishwasher048/visuals/rack1.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d20cd7a659e352cb2cc45eeb1eb74f375dbb5e8d5bba675dcd2e9ae168d01dba
3
+ size 209760
assets/robocasa/fixtures/dishwashers/Dishwasher049/metadata.yaml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ asset_id: robocasa.fixtures.dishwashers.Dishwasher049
2
+ source: robocasa
3
+ source_asset_id: Dishwasher049
4
+ asset_type: fixtures
5
+ category: dishwashers
6
+ format: mjcf
7
+ entry_file: model.xml
8
+ license: CC-BY-4.0
9
+ origin_url: https://robocasa.ai
10
+ path: assets/robocasa/fixtures/dishwashers/Dishwasher049
11
+ tags:
12
+ - robocasa
13
+ - mujoco
14
+ - mjcf
15
+ - kitchen
16
+ - dishwasher
17
+ - fixture
assets/robocasa/fixtures/dishwashers/Dishwasher049/model.xml ADDED
@@ -0,0 +1,145 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='UTF-8'?>
2
+ <mujoco model="model">
3
+ <option timestep="0.002" gravity="0.0 0.0 -9.81"/>
4
+ <compiler angle="radian"/>
5
+ <asset>
6
+ <mesh file="visuals/button_power.obj" name="button_power_vis"/>
7
+ <mesh file="visuals/Body001.obj" name="Body001_vis"/>
8
+ <mesh file="visuals/door.obj" name="door_vis"/>
9
+ <mesh file="visuals/rack0.obj" name="rack0_vis"/>
10
+ <mesh file="visuals/rack1.obj" name="rack1_vis"/>
11
+ <texture file="visuals/T_BC001.png" name="Body001_material" type="2d"/>
12
+ <material name="Body001_material" rgba="1 1 1 1.0" texture="Body001_material" shininess="2" specular="2"/>
13
+ <texture file="visuals/T_BC001.png" name="button_power_material" type="2d"/>
14
+ <material name="button_power_material" rgba="1 1 1 1.0" texture="button_power_material" shininess="2" specular="2"/>
15
+ <texture file="visuals/T_BC001.png" name="door_material" type="2d"/>
16
+ <material name="door_material" rgba="1 1 1 1.0" texture="door_material" shininess="2" specular="2"/>
17
+ <texture file="visuals/T_BC001.png" name="rack0_material" type="2d"/>
18
+ <material name="rack0_material" rgba="1 1 1 1.0" texture="rack0_material" shininess="10" specular="10"/>
19
+ <texture file="visuals/T_BC001.png" name="rack1_material" type="2d"/>
20
+ <material name="rack1_material" rgba="1 1 1 1.0" texture="rack1_material" shininess="10" specular="10"/>
21
+ </asset>
22
+ <default>
23
+ <default class="visual">
24
+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
25
+ </default>
26
+ <default class="collision">
27
+ <geom group="0" rgba="0.5 0 0 0.5"/>
28
+ </default>
29
+ <default class="spawn">
30
+ <geom group="0" rgba="1 1 1 0.5" contype="0" conaffinity="0"/>
31
+ <site group="0" rgba="1 1 1 0.5"/>
32
+ </default>
33
+ <default class="region">
34
+ <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
35
+ </default>
36
+ </default>
37
+ <worldbody>
38
+ <body>
39
+ <body name="object">
40
+ <geom mesh="Body001_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Body001_material"/>
41
+ <geom class="collision" type="box" pos="-0.31074389815330505 0.04210297390818596 -0.0015653906157240272" size="0.015660235658288002 0.3092889189720154 0.4851975739002228" quat="1.0 0.0 0.0 0.0"/>
42
+ <geom class="collision" type="box" pos="-0.0004225249867886305 -0.285555362701416 -0.4219219982624054" size="0.32598164677619934 0.013015281409025192 0.06484092026948929" quat="1.0 0.0 0.0 0.0"/>
43
+ <geom class="collision" type="box" pos="-0.0014278511516749859 0.031286075711250305 0.3953034281730652" size="0.3249762952327728 0.3201058506965637 0.08955497294664383" quat="1.0 0.0 0.0 0.0"/>
44
+ <geom class="collision" type="box" pos="-0.0008205829653888941 0.026971997693181038 -0.4234071671962738" size="0.3255835771560669 0.3244198262691498 0.06335577368736267" quat="1.0 0.0 0.0 0.0"/>
45
+ <geom class="collision" type="box" pos="0.0009469911456108093 0.2978161871433258 -0.0015653906157240272" size="0.2965596318244934 0.053575702011585236 0.4851975739002228" quat="1.0 0.0 0.0 0.0"/>
46
+ <geom class="collision" type="box" pos="-0.0003573329886421561 -0.28971847891807556 0.442055881023407" size="0.32604682445526123 0.008409310132265091 0.043088555335998535" quat="1.0 0.0 0.0 0.0"/>
47
+ <geom class="collision" type="box" pos="0.28995102643966675 -0.009116381406784058 0.16600890457630157" size="0.016765600070357323 0.24925102293491364 0.012454171665012836" quat="0.9512218236923218 0.0 -0.3085077702999115 0.0"/>
48
+ <geom class="collision" type="box" pos="-0.2861086130142212 -0.010392174124717712 0.16318382322788239" size="0.016765600070357323 0.24744851887226105 0.012454171665012836" quat="1.0 0.0 0.0 0.0"/>
49
+ <geom class="collision" type="box" pos="-0.2861086130142212 -0.010392174124717712 -0.1537511646747589" size="0.016765600070357323 0.24744851887226105 0.012454171665012836" quat="1.0 0.0 0.0 0.0"/>
50
+ <geom class="collision" type="box" pos="0.28995102643966675 -0.009116381406784058 -0.15092608332633972" size="0.016765600070357323 0.24925102293491364 0.012454171665012836" quat="0.9512218236923218 0.0 -0.3085077702999115 0.0"/>
51
+ <geom class="collision" type="box" pos="0.3109588921070099 0.04210297390818596 -0.0015653906157240272" size="0.015445224940776825 0.3092889189720154 0.4851975739002228" quat="1.0 0.0 0.0 0.0"/>
52
+ <body name="button_power">
53
+ <joint axis="0.0 1.0 0.0" pos="0.29694992303848267 -0.3024997115135193 0.3710770905017853" limited="true" name="button_power_joint" range="0.0 0.005" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="4" springref="-1"/>
54
+ <geom mesh="button_power_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="button_power_material"/>
55
+ <geom class="collision" type="box" pos="0.29694992303848267 -0.30306148529052734 0.3710770905017853" size="0.0164952352643013 0.0035244703758507967 0.02042667753994465" quat="1.0 0.0 0.0 0.0"/>
56
+ </body>
57
+ <body name="door">
58
+ <joint axis="1.0 0.0 0.0" pos="-0.00018922117305919528 -0.2985706701874733 -0.349735789000988" limited="true" name="door_joint" range="0.0 0.6035987755982988" type="hinge" damping="1" frictionloss="10" armature="1" stiffness="2"/>
59
+ <geom mesh="door_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="door_material"/>
60
+ <geom class="collision" type="box" pos="-0.00018922117305919528 -0.2843288481235504 -0.025368444621562958" size="0.3262149393558502 0.011756437830626965 0.32436734437942505" quat="1.0 0.0 0.0 0.0"/>
61
+ <geom class="collision" type="cylinder" pos="0.2391108274459839 -0.31386852264404297 0.26950329542160034" size="0.011444659903645515 0.014086979441344738" quat="0.5 0.5 0.4999999701976776 -0.5"/>
62
+ <geom class="collision" type="cylinder" pos="0.015101909637451172 -0.34027668833732605 0.26950329542160034" size="0.01144466269761324 0.23524464666843414" quat="0.7071068286895752 -0.0 0.7071067690849304 0.0" name="door_handle_main"/>
63
+ <geom class="collision" type="cylinder" pos="-0.2097417712211609 -0.31286537647247314 0.2697909474372864" size="0.01144466269761324 0.014086979441344738" quat="0.5 0.5 0.4999999701976776 -0.5"/>
64
+ <geom class="collision" type="box" pos="-0.00018922117305919528 -0.2939428985118866 -0.025368444621562958" size="0.3262149393558502 0.0046277716755867004 0.32436734437942505" quat="1.0 0.0 0.0 0.0" name="door_main"/>
65
+ </body>
66
+ <body name="rack0">
67
+ <geom class="region" name="reg_rack0" type="box" pos="-0.0005035474896430969 0.00885559618473053 -0.1099739819765091" size="0.24927804416418076 0.1946556249856949 0.12362563407421112"/>
68
+ <joint axis="0.0 -1.0 0.0" pos="0.0011369017884135246 0.009013836272060871 -0.19645054638385773" limited="true" name="rack0_joint" range="0.0 0.09" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
69
+ <geom mesh="rack0_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack0_material"/>
70
+ <geom class="collision" type="box" pos="0.2601785659790039 0.009433153085410595 -0.21831165254116058" size="0.0028752374928444624 0.20597416162490845 0.07085639983415604" quat="0.9996649622917175 0.0 0.02588295005261898 0.0"/>
71
+ <geom class="collision" type="box" pos="0.14208747446537018 -0.19310100376605988 -0.17227700352668762" size="0.0028752374928444624 0.0034400008153170347 0.07150132954120636" quat="1.0 0.0 0.0 0.0"/>
72
+ <geom class="collision" type="box" pos="-0.006363436579704285 -0.193630188703537 -0.17979823052883148" size="0.0028752374928444624 0.00291081378236413 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
73
+ <geom class="collision" type="box" pos="-0.13641364872455597 -0.19315925240516663 -0.17979823052883148" size="0.0028752374928444624 0.003381751012057066 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
74
+ <geom class="collision" type="box" pos="-0.2753942608833313 0.009433153085410595 -0.13552449643611908" size="0.012880324386060238 0.20597416162490845 0.003205620450899005" quat="1.0 0.0 0.0 0.0"/>
75
+ <geom class="collision" type="box" pos="-0.25940003991127014 0.009433153085410595 -0.21402280032634735" size="0.0028752374928444624 0.20597416162490845 0.07541237026453018" quat="0.9998655319213867 0.0 -0.01640046387910843 0.0"/>
76
+ <geom class="collision" type="box" pos="0.24281170964241028 0.009433153085410595 -0.29280000925064087" size="0.016986049711704254 0.20597416162490845 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
77
+ <geom class="collision" type="box" pos="0.13599054515361786 0.00883317831903696 -0.26949208974838257" size="0.0028752374928444624 0.2060575932264328 0.02738598734140396" quat="1.0 0.0 0.0 0.0"/>
78
+ <geom class="collision" type="box" pos="-0.11531074345111847 0.007706544827669859 -0.27247416973114014" size="0.021465769037604332 0.20655052363872528 0.0034507852979004383" quat="0.8538821935653687 0.0 0.5204663276672363 0.0"/>
79
+ <geom class="collision" type="box" pos="-0.17202086746692657 0.00963241420686245 -0.2762652635574341" size="0.04208718240261078 0.2057749181985855 0.0034507852979004383" quat="0.976375937461853 0.0 -0.2160787284374237 0.0"/>
80
+ <geom class="collision" type="box" pos="0.18302851915359497 0.008778777904808521 -0.26716160774230957" size="0.05139434337615967 0.20498640835285187 0.0034507852979004383" quat="0.9649385213851929 0.0 0.26247602701187134 0.0"/>
81
+ <geom class="collision" type="box" pos="0.05050894618034363 0.007706544827669859 -0.2728479504585266" size="0.0846700668334961 0.20655052363872528 0.0034507852979004383" quat="0.9919333457946777 0.0 0.1267605870962143 0.0"/>
82
+ <geom class="collision" type="box" pos="-0.037192992866039276 0.009365230798721313 -0.2719617486000061" size="0.021055378019809723 0.2048918455839157 0.003450785530731082" quat="0.8327611684799194 0.0 -0.5536324381828308 0.0"/>
83
+ <geom class="collision" type="box" pos="-0.028020158410072327 0.032729458063840866 -0.23228012025356293" size="0.06565605849027634 0.18267786502838135 0.003450785530731082" quat="0.8327611684799194 0.0 -0.5536324381828308 0.0"/>
84
+ <geom class="collision" type="box" pos="-0.00038360804319381714 -0.19653765857219696 -0.16516639292240143" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
85
+ <geom class="collision" type="box" pos="0.00156847620382905 -0.19638462364673615 -0.1000041514635086" size="0.29132577776908875 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
86
+ <geom class="collision" type="box" pos="-0.2851855456829071 0.008442491292953491 -0.11516757309436798" size="0.0028752374928444624 0.20498350262641907 0.017951978370547295" quat="1.0 0.0 0.0 0.0"/>
87
+ <geom class="collision" type="box" pos="-0.07622170448303223 0.009433153085410595 -0.29280000925064087" size="0.03436841815710068 0.20597416162490845 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
88
+ <geom class="collision" type="box" pos="0.00156847620382905 0.2151338905096054 -0.1000041514635086" size="0.29132577776908875 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
89
+ <geom class="collision" type="box" pos="-0.00038360804319381714 0.2151338905096054 -0.16516639292240143" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
90
+ <geom class="collision" type="box" pos="-0.00038360804319381714 0.2151338905096054 -0.2438908964395523" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
91
+ <geom class="collision" type="box" pos="0.28881484270095825 0.008442491292953491 -0.11348722875118256" size="0.0028752374928444624 0.20498350262641907 0.015420433133840561" quat="1.0 0.0 0.0 0.0"/>
92
+ <geom class="collision" type="box" pos="0.2766624391078949 0.009433153085410595 -0.13924627006053925" size="0.016239330172538757 0.20597416162490845 0.003205620450899005" quat="0.950692892074585 0.0 -0.3101339042186737 0.0"/>
93
+ <geom class="collision" type="box" pos="0.14208747446537018 0.21093378961086273 -0.17227700352668762" size="0.0028752374928444624 0.0034400008153170347 0.07150132954120636" quat="1.0 0.0 0.0 0.0"/>
94
+ <geom class="collision" type="box" pos="0.13117694854736328 0.0095750093460083 -0.2305232137441635" size="0.0028752374928444624 0.1594955176115036 0.06274466961622238" quat="1.0 0.0 0.0 0.0"/>
95
+ <geom class="collision" type="box" pos="-0.13641364872455597 0.21017642319202423 -0.17979823052883148" size="0.0028752374928444624 0.003381751012057066 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
96
+ <geom class="collision" type="box" pos="-0.006363436579704285 0.21039453148841858 -0.17979823052883148" size="0.0028752374928444624 0.00291081378236413 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
97
+ <geom class="collision" type="box" pos="-0.00038360804319381714 -0.19794560968875885 -0.2438908964395523" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
98
+ <geom class="collision" type="box" pos="-0.23661816120147705 0.009433153085410595 -0.29320621490478516" size="0.02875845693051815 0.20597416162490845 0.0038504458498209715" quat="1.0 0.0 0.0 0.0"/>
99
+ </body>
100
+ <body name="rack1">
101
+ <geom class="region" name="reg_rack1" type="box" pos="-0.0005035474896430969 0.00885559618473053 0.19251640513539314" size="0.24927804416418076 0.1946556249856949 0.10889726302027702"/>
102
+ <joint axis="0.0 -1.0 0.0" pos="0.0011369017884135246 0.009013836272060871 0.11977115273475647" limited="true" name="rack1_joint" range="0.0 0.26" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
103
+ <geom mesh="rack1_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack1_material"/>
104
+ <geom class="collision" type="box" pos="-0.23661816120147705 0.009433153085410595 0.023139236494898796" size="0.02875845693051815 0.20597416162490845 0.0038504458498209715" quat="1.0 0.0 0.0 0.0"/>
105
+ <geom class="collision" type="box" pos="-0.07622170448303223 0.009433153085410595 0.02354547008872032" size="0.03436841815710068 0.20597416162490845 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
106
+ <geom class="collision" type="box" pos="0.24281170964241028 0.009433153085410595 0.02354547008872032" size="0.016986049711704254 0.20597416162490845 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
107
+ <geom class="collision" type="box" pos="-0.25940003991127014 0.009433153085410595 0.10232266783714294" size="0.0028752374928444624 0.20597416162490845 0.07541237026453018" quat="0.9998655319213867 0.0 -0.01640046387910843 0.0"/>
108
+ <geom class="collision" type="box" pos="-0.2753942608833313 0.009433153085410595 0.18082097172737122" size="0.012880324386060238 0.20597416162490845 0.003205620450899005" quat="1.0 0.0 0.0 0.0"/>
109
+ <geom class="collision" type="box" pos="-0.13641364872455597 -0.19315925240516663 0.1365472376346588" size="0.0028752374928444624 0.003381751012057066 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
110
+ <geom class="collision" type="box" pos="-0.006363436579704285 -0.193630188703537 0.1365472376346588" size="0.0028752374928444624 0.00291081378236413 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
111
+ <geom class="collision" type="box" pos="0.14208747446537018 -0.19310100376605988 0.14406846463680267" size="0.0028752374928444624 0.0034400008153170347 0.07150132954120636" quat="1.0 0.0 0.0 0.0"/>
112
+ <geom class="collision" type="box" pos="0.2601785659790039 0.009433153085410595 0.09803382307291031" size="0.0028752374928444624 0.20597416162490845 0.07085639983415604" quat="0.9996649622917175 0.0 0.02588295005261898 0.0"/>
113
+ <geom class="collision" type="box" pos="-0.00038360804319381714 -0.19794560968875885 0.07245457172393799" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
114
+ <geom class="collision" type="box" pos="-0.006363436579704285 0.21039453148841858 0.1365472376346588" size="0.0028752374928444624 0.00291081378236413 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
115
+ <geom class="collision" type="box" pos="-0.13641364872455597 0.21017642319202423 0.1365472376346588" size="0.0028752374928444624 0.003381751012057066 0.07902255654335022" quat="1.0 0.0 0.0 0.0"/>
116
+ <geom class="collision" type="box" pos="0.13117694854736328 0.0095750093460083 0.08582226186990738" size="0.0028752374928444624 0.1594955176115036 0.06274466961622238" quat="1.0 0.0 0.0 0.0"/>
117
+ <geom class="collision" type="box" pos="0.14208747446537018 0.21093378961086273 0.14406846463680267" size="0.0028752374928444624 0.0034400008153170347 0.07150132954120636" quat="1.0 0.0 0.0 0.0"/>
118
+ <geom class="collision" type="box" pos="0.2766624391078949 0.009433153085410595 0.17709919810295105" size="0.016239330172538757 0.20597416162490845 0.003205620450899005" quat="0.950692892074585 0.0 -0.3101339042186737 0.0"/>
119
+ <geom class="collision" type="box" pos="0.28881484270095825 0.008442491292953491 0.20285823941230774" size="0.0028752374928444624 0.20498350262641907 0.015420433133840561" quat="1.0 0.0 0.0 0.0"/>
120
+ <geom class="collision" type="box" pos="-0.00038360804319381714 0.2151338905096054 0.07245457172393799" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
121
+ <geom class="collision" type="box" pos="-0.00038360804319381714 0.2151338905096054 0.15117907524108887" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
122
+ <geom class="collision" type="box" pos="0.00156847620382905 0.2151338905096054 0.2163413166999817" size="0.29132577776908875 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
123
+ <geom class="collision" type="box" pos="-0.2851855456829071 0.008442491292953491 0.20117789506912231" size="0.0028752374928444624 0.20498350262641907 0.017951978370547295" quat="1.0 0.0 0.0 0.0"/>
124
+ <geom class="collision" type="box" pos="0.00156847620382905 -0.19638462364673615 0.2163413166999817" size="0.29132577776908875 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
125
+ <geom class="collision" type="box" pos="-0.00038360804319381714 -0.19653765857219696 0.15117907524108887" size="0.26663410663604736 0.0031389184296131134 0.0034507845994085073" quat="1.0 0.0 0.0 0.0"/>
126
+ <geom class="collision" type="box" pos="-0.028020158410072327 0.032729458063840866 0.08406535536050797" size="0.06565605849027634 0.18267786502838135 0.003450785530731082" quat="0.8327611684799194 0.0 -0.5536324381828308 0.0"/>
127
+ <geom class="collision" type="box" pos="-0.037192992866039276 0.009365230798721313 0.04438371956348419" size="0.021055378019809723 0.2048918455839157 0.003450785530731082" quat="0.8327611684799194 0.0 -0.5536324381828308 0.0"/>
128
+ <geom class="collision" type="box" pos="0.05050894618034363 0.007706544827669859 0.043497517704963684" size="0.0846700668334961 0.20655052363872528 0.0034507852979004383" quat="0.9919333457946777 0.0 0.1267605870962143 0.0"/>
129
+ <geom class="collision" type="box" pos="0.18302851915359497 0.008778777904808521 0.04918387532234192" size="0.05139434337615967 0.20498640835285187 0.0034507852979004383" quat="0.9649385213851929 0.0 0.26247602701187134 0.0"/>
130
+ <geom class="collision" type="box" pos="-0.17202086746692657 0.00963241420686245 0.04008018597960472" size="0.04208718240261078 0.2057749181985855 0.0034507852979004383" quat="0.976375937461853 0.0 -0.2160787284374237 0.0"/>
131
+ <geom class="collision" type="box" pos="-0.11531074345111847 0.007706544827669859 0.04387129843235016" size="0.021465769037604332 0.20655052363872528 0.0034507852979004383" quat="0.8538821935653687 0.0 0.5204663276672363 0.0"/>
132
+ <geom class="collision" type="box" pos="0.13599054515361786 0.00883317831903696 0.04685338959097862" size="0.0028752374928444624 0.2060575932264328 0.02738598734140396" quat="1.0 0.0 0.0 0.0"/>
133
+ </body>
134
+ <geom class="region" name="reg_int" type="box" pos="6.364285945892334e-05 -0.014126770198345184 -0.027165621519088745" size="0.29041164910793305 0.2536001110672951 0.3283073434829712"/>
135
+ <geom class="region" name="reg_main" type="box" pos="0.0 0.026410609483718872 3.725290298461914e-08" size="0.3274040946960449 0.3259812424182892 0.4877629408836365"/>
136
+ </body>
137
+ </body>
138
+ </worldbody>
139
+ <actuator>
140
+ <motor name="button_power_joint_actuator" joint="button_power_joint" gear="0.5"/>
141
+ <motor name="door_joint_actuator" joint="door_joint" gear="50"/>
142
+ <motor name="rack0_joint_actuator" joint="rack0_joint" gear="50"/>
143
+ <motor name="rack1_joint_actuator" joint="rack1_joint" gear="50"/>
144
+ </actuator>
145
+ </mujoco>
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Body001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6e6426d4366a1d0f39461836ae98c17383d554f26b8307865c98dc07be16a4f5
3
+ size 367144
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc8bd1b87a6fed0a7149e2031ce424c53eb2651f0987d3434bb0c5bb8c967279
3
+ size 23758
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button002.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:5349b5ef1c4360232d40db56a903ead38252069131c2732855369a3656ed7469
3
+ size 23758
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button003.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:424074154e018846fcde85c5b596aef9ce55a8b84bc2b75b00b6e059c9f076b5
3
+ size 23732
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button004.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ee363b0801af361b42b7bc2986733ba2f56b2689ddda04773c4f9c88ab9d070
3
+ size 23758
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Button005.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ed27e8d10352193d69061c1e28b589888309cb811b24515ce78f31e06fd43627
3
+ size 23758
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Container001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e8e95b4fc65c57c1109873ee1f5be1d4cbc1ebce1dffdcfde5785056650d1ac5
3
+ size 655467
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Container002.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d3f7857576b3fc603c49cb20ea915ee2fa6c98577d6a98be0e8aeaa0621ed2a8
3
+ size 662946
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Door001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:85c9d2380b32f368edd73d3db05a7ba7565e7eade802e211847739a4ee095b8f
3
+ size 25144
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/Handle001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4953b7dfa3d38ec436053d1127bf1008e79a41d4219f2fd08dbc5cb9aba47e73
3
+ size 6017
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/T_BC001.png ADDED

Git LFS Details

  • SHA256: babde62041d0d1cc12dcb8613037b0aa65c824801110947f35607ab98f766202
  • Pointer size: 132 Bytes
  • Size of remote file: 4.2 MB
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/button_power.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9cb3875e0605fbb4f257ce1f7faeb31408dd4306dd66c6b0f3e1aaf335a126a5
3
+ size 710
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/door.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:c35d80304ff0d041a058d3fef877b0e2f7f3eb88e447513d22e2839b295bd15f
3
+ size 32224
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/rack0.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a7f3bcf4f93e88c549f94c2409d4c9fa60b27729efc06bc6d749f350dc112650
3
+ size 382102
assets/robocasa/fixtures/dishwashers/Dishwasher049/visuals/rack1.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1efb4eac7bd73377201ccb0f195eeec70f0b8f52341406ba9ed7e2c8f27a028a
3
+ size 379654
assets/robocasa/fixtures/dishwashers/Dishwasher051/metadata.yaml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ asset_id: robocasa.fixtures.dishwashers.Dishwasher051
2
+ source: robocasa
3
+ source_asset_id: Dishwasher051
4
+ asset_type: fixtures
5
+ category: dishwashers
6
+ format: mjcf
7
+ entry_file: model.xml
8
+ license: CC-BY-4.0
9
+ origin_url: https://robocasa.ai
10
+ path: assets/robocasa/fixtures/dishwashers/Dishwasher051
11
+ tags:
12
+ - robocasa
13
+ - mujoco
14
+ - mjcf
15
+ - kitchen
16
+ - dishwasher
17
+ - fixture
assets/robocasa/fixtures/dishwashers/Dishwasher051/model.xml ADDED
@@ -0,0 +1,108 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='UTF-8'?>
2
+ <mujoco model="model">
3
+ <option timestep="0.002" gravity="0.0 0.0 -9.81"/>
4
+ <compiler angle="radian"/>
5
+ <asset>
6
+ <mesh file="visuals/button_power.obj" name="button_power_vis"/>
7
+ <mesh file="visuals/Body001.obj" name="Body001_vis"/>
8
+ <mesh file="visuals/door.obj" name="door_vis"/>
9
+ <mesh file="visuals/rack0.obj" name="rack0_vis"/>
10
+ <mesh file="visuals/rack1.obj" name="rack1_vis"/>
11
+ <texture file="visuals/T_BC001.png" name="Body001_material" type="2d"/>
12
+ <material name="Body001_material" rgba="1 1 1 1.0" texture="Body001_material" shininess="0.1" specular="6"/>
13
+ <texture file="visuals/T_BC001.png" name="door_material" type="2d"/>
14
+ <material name="door_material" rgba="1 1 1 1.0" texture="door_material" shininess="0.1" specular="6"/>
15
+ <texture file="visuals/T_BC001.png" name="button_power_material" type="2d"/>
16
+ <material name="button_power_material" rgba="1 1 1 1.0" texture="button_power_material" shininess="0.1" specular="6"/>
17
+ <texture file="visuals/T_BC001.png" name="rack0_material" type="2d"/>
18
+ <material name="rack0_material" rgba="1 1 1 1.0" texture="rack0_material" shininess="0.1" specular="6"/>
19
+ <texture file="visuals/T_BC001.png" name="rack1_material" type="2d"/>
20
+ <material name="rack1_material" rgba="1 1 1 1.0" texture="rack1_material" shininess="0.1" specular="6"/>
21
+ </asset>
22
+ <default>
23
+ <default class="visual">
24
+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
25
+ </default>
26
+ <default class="collision">
27
+ <geom group="0" rgba="0.5 0 0 0.5"/>
28
+ </default>
29
+ <default class="spawn">
30
+ <geom group="0" rgba="1 1 1 0.5" contype="0" conaffinity="0"/>
31
+ <site group="0" rgba="1 1 1 0.5"/>
32
+ </default>
33
+ <default class="region">
34
+ <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
35
+ </default>
36
+ </default>
37
+ <worldbody>
38
+ <body>
39
+ <body name="object">
40
+ <geom mesh="Body001_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Body001_material"/>
41
+ <geom class="collision" type="box" pos="-0.00000002 -0.27696897 -0.42335901" size="0.3244858980178833 0.012244201265275478 0.061163902282714844" quat="1.0 0.0 0.0 0.0"/>
42
+ <geom class="collision" type="box" pos="0.00038822 0.04619240 -0.42070463" size="0.2991548180580139 0.3115966320037842 0.05850958824157715" quat="1.0 0.0 0.0 0.0"/>
43
+ <geom class="collision" type="box" pos="0.00038822 0.04619240 -0.33293474" size="0.29915493726730347 0.3115968406200409 0.03304149955511093" quat="1.0 0.0 0.0 0.0"/>
44
+ <geom class="collision" type="box" pos="0.00038822 0.24968736 0.05879498" size="0.29915502667427063 0.10810777544975281 0.3550553023815155" quat="1.0 0.0 0.0 0.0"/>
45
+ <geom class="collision" type="box" pos="0.00038822 0.04619240 0.44873157" size="0.29915517568588257 0.3115972578525543 0.032823991030454636" quat="1.0 0.0 0.0 0.0"/>
46
+ <geom class="collision" type="box" pos="0.27927663 -0.06196933 0.05755318" size="0.02027086168527603 0.20343931019306183 0.35505545139312744" quat="1.0 0.0 0.0 0.0"/>
47
+ <geom class="collision" type="box" pos="-0.27810726 -0.06196933 0.05755318" size="0.020895369350910187 0.20343941450119019 0.3550555109977722" quat="1.0 0.0 0.0 0.0"/>
48
+ <geom class="collision" type="box" pos="0.24990419 -0.03828324 -0.14343232" size="0.011768651194870472 0.1806776374578476 0.002298763720318675" quat="1.0 0.0 0.0 0.0"/>
49
+ <geom class="collision" type="box" pos="0.24990419 -0.03828324 0.07840847" size="0.011768658645451069 0.18067774176597595 0.002298763021826744" quat="1.0 0.0 0.0 0.0"/>
50
+ <geom class="collision" type="box" pos="-0.24425244 -0.03828324 0.07840847" size="0.015683652833104134 0.1806778460741043 0.0022987646516412497" quat="1.0 0.0 0.0 0.0"/>
51
+ <geom class="collision" type="box" pos="-0.24425244 -0.03828324 -0.14343232" size="0.01568366028368473 0.18067795038223267 0.002298768376931548" quat="1.0 0.0 0.0 0.0"/>
52
+ <body name="door">
53
+ <joint axis="1.0 0.0 0.0" pos="-2e-08 -0.28933343404995443 -0.3595657451798248" limited="true" name="door_joint" range="0.0 0.6235987755982988" type="hinge" damping="1" frictionloss="10" armature="1" stiffness="2"/>
54
+ <geom mesh="door_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="door_material"/>
55
+ <geom class="collision" type="box" pos="-0.00000002 -0.27800624 0.06247582" size="0.3244870901107788 0.011327194049954414 0.42204156517982483" quat="1.0 0.0 0.0 0.0" name="door_main"/>
56
+ <geom class="collision" type="box" pos="-0.25857393 -0.31318618 0.35702610" size="0.05091876536607742 0.022817475721240044 0.009476338513195515" quat="1.0 0.0 0.0 0.0"/>
57
+ <geom class="collision" type="box" pos="0.25483140 -0.31318618 0.35702610" size="0.050294287502765656 0.022817488759756088 0.009476345032453537" quat="1.0 0.0 0.0 0.0"/>
58
+ <geom class="collision" type="box" pos="-0.00168355 -0.34621603 0.35702610" size="0.295711487531662 0.012319796718657017 0.00947635155171156" quat="1.0 0.0 0.0 0.0" name="door_handle_main"/>
59
+ <body name="button_power">
60
+ <joint axis="0.0 1.0 0.0" pos="0.11635070 -0.29049234 0.42535225" limited="true" name="button_power_joint" range="0.0 0.002" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="4" springref="-1"/>
61
+ <geom mesh="button_power_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="button_power_material"/>
62
+ <geom class="collision" type="cylinder" pos="0.11636769 -0.29136355 0.42533377" size="0.009846530854701996 0.0015546578215435147" quat="0.7071067094802856 0.7071068286895752 0.0 0.0"/>
63
+ </body>
64
+ </body>
65
+ <body name="rack0">
66
+ <geom class="region" name="reg_rack0" type="box" pos="0.007693975000000006 -0.042310509999999996 -0.015250935" size="0.223213275 0.15854236 0.10228237500000001"/>
67
+ <joint axis="0.0 -1.0 0.0" pos="0.00152424 -0.04322837 -0.08390982" limited="true" name="rack0_joint" range="0.0 0.2" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
68
+ <geom mesh="rack0_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack0_material"/>
69
+ <geom class="collision" type="box" pos="-0.03531636 -0.04029504 -0.09657510" size="0.0019118215423077345 0.13336151838302612 0.0261716078966856" quat="1.0 0.0 0.0 0.0"/>
70
+ <geom class="collision" type="box" pos="0.03205111 -0.04029504 -0.09657510" size="0.0019118215423077345 0.13336151838302612 0.0261716078966856" quat="1.0 0.0 0.0 0.0"/>
71
+ <geom class="collision" type="box" pos="0.10122308 -0.04029504 -0.09657510" size="0.0019118215423077345 0.13336151838302612 0.0261716078966856" quat="1.0 0.0 0.0 0.0"/>
72
+ <geom class="collision" type="box" pos="0.16735027 -0.04029504 -0.09657510" size="0.0019118215423077345 0.13336151838302612 0.0261716078966856" quat="1.0 0.0 0.0 0.0"/>
73
+ <geom class="collision" type="box" pos="0.00182250 0.12420084 -0.07674162" size="0.23673833906650543 0.003599451156333089 0.04600508511066437" quat="1.0 0.0 0.0 0.0"/>
74
+ <geom class="collision" type="box" pos="0.00182250 -0.20953585 -0.07674162" size="0.23673833906650543 0.003599451156333089 0.04600508511066437" quat="1.0 0.0 0.0 0.0"/>
75
+ <geom class="collision" type="box" pos="-0.24072131 -0.04413319 -0.07674162" size="0.0057272110134363174 0.16507881879806519 0.04600508511066437" quat="1.0 0.0 0.0 0.0"/>
76
+ <geom class="collision" type="box" pos="0.24326123 -0.04413319 -0.07674162" size="0.0057272110134363174 0.16507881879806519 0.04600508511066437" quat="1.0 0.0 0.0 0.0"/>
77
+ <geom class="collision" type="box" pos="-0.16390234 -0.04029504 -0.09657510" size="0.0019118215423077345 0.13336151838302612 0.0261716078966856" quat="1.0 0.0 0.0 0.0"/>
78
+ <geom class="collision" type="box" pos="-0.10004316 -0.04029504 -0.09657510" size="0.0019118215423077345 0.13336151838302612 0.0261716078966856" quat="1.0 0.0 0.0 0.0"/>
79
+ <geom class="collision" type="box" pos="0.00153467 -0.04413319 -0.12555444" size="0.24041961133480072 0.16507881879806519 0.0023818393237888813" quat="1.0 0.0 0.0 0.0"/>
80
+ </body>
81
+ <body name="rack1">
82
+ <geom class="region" name="reg_rack1" type="box" pos="0.007693975000000006 -0.042310509999999996 0.251831845" size="0.223213275 0.15854236 0.150193005"/>
83
+ <joint axis="0.0 -1.0 0.0" pos="0.00152424 -0.04322835 0.13654485" limited="true" name="rack1_joint" range="0.0 0.3" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
84
+ <geom mesh="rack1_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack1_material"/>
85
+ <geom class="collision" type="box" pos="0.00153467 -0.04413319 0.09445150" size="0.24041961133480072 0.16507881879806519 0.0023818393237888813" quat="1.0 0.0 0.0 0.0"/>
86
+ <geom class="collision" type="box" pos="0.24326123 -0.04413319 0.14326432" size="0.0057272110134363174 0.16507881879806519 0.04600507766008377" quat="1.0 0.0 0.0 0.0"/>
87
+ <geom class="collision" type="box" pos="-0.24072131 -0.04413319 0.14326432" size="0.0057272110134363174 0.16507881879806519 0.04600507766008377" quat="1.0 0.0 0.0 0.0"/>
88
+ <geom class="collision" type="box" pos="0.00182250 -0.20953585 0.14326432" size="0.23673833906650543 0.003599451156333089 0.04600507766008377" quat="1.0 0.0 0.0 0.0"/>
89
+ <geom class="collision" type="box" pos="0.00182250 0.12420084 0.14326432" size="0.23673833906650543 0.003599451156333089 0.04600507766008377" quat="1.0 0.0 0.0 0.0"/>
90
+ <geom class="collision" type="box" pos="0.16735027 -0.04029504 0.12343085" size="0.0019118215423077345 0.13336151838302612 0.02617160975933075" quat="1.0 0.0 0.0 0.0"/>
91
+ <geom class="collision" type="box" pos="0.10122308 -0.04029504 0.12343085" size="0.0019118215423077345 0.13336151838302612 0.02617160975933075" quat="1.0 0.0 0.0 0.0"/>
92
+ <geom class="collision" type="box" pos="0.03205111 -0.04029504 0.12343085" size="0.0019118215423077345 0.13336151838302612 0.02617160975933075" quat="1.0 0.0 0.0 0.0"/>
93
+ <geom class="collision" type="box" pos="-0.03531636 -0.04029504 0.12343085" size="0.0019118215423077345 0.13336151838302612 0.02617160975933075" quat="1.0 0.0 0.0 0.0"/>
94
+ <geom class="collision" type="box" pos="-0.10004316 -0.04029504 0.12343085" size="0.0019118215423077345 0.13336151838302612 0.02617160975933075" quat="1.0 0.0 0.0 0.0"/>
95
+ <geom class="collision" type="box" pos="-0.16390234 -0.04029504 0.12343085" size="0.0019118215423077345 0.13336151838302612 0.02617160975933075" quat="1.0 0.0 0.0 0.0"/>
96
+ </body>
97
+ <geom class="region" name="reg_int" type="box" pos="0.0012928900000000049 -0.058422769999999985 0.05706724499999999" size="0.23349109 0.20139873 0.344957605"/>
98
+ <geom class="region" name="reg_main" type="box" pos="-2.500000001459668e-08 0.034231695000000006 -1.8999999998325912e-07" size="0.325490785 0.324565365 0.48552377"/>
99
+ </body>
100
+ </body>
101
+ </worldbody>
102
+ <actuator>
103
+ <motor name="door_joint_actuator" joint="door_joint" gear="50"/>
104
+ <motor name="rack0_joint_actuator" joint="rack0_joint" gear="50"/>
105
+ <motor name="rack1_joint_actuator" joint="rack1_joint" gear="50"/>
106
+ <motor name="button_power_joint_actuator" joint="button_power_joint" gear="0.5"/>
107
+ </actuator>
108
+ </mujoco>
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Body001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8ffaa574e43c4135616db194b9e4709093c3133421a93677bfd7d264ef4cbd23
3
+ size 95543
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Button001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a25aee70ba3ce376cd2f8b94f8909b6761aabbe880374a3e2c0f81b630dbcca8
3
+ size 102064
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Contanier001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:240fdd80a3f0eea741536c0dcafb3063c90b674c2c130a1cac3169c65a630cba
3
+ size 241729
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Contanier002.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:83dff0bed2cb51bd64ae3fbfe1bb3703f9b7bf47dd3d98075e05776b6620b07f
3
+ size 243325
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Door001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e3fc65acfd579a35989e0ffa81387fbe81483ef76cddef3b4f1f82d4d2ae1d5e
3
+ size 56943
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/Handle001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1ff023cb1ee2f1e3543dbc0a77e029a288dbee3dafe463a5904b79d4c042ee8b
3
+ size 94531
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/T_BC001.png ADDED

Git LFS Details

  • SHA256: d6d55eaad25053bd8a8ede7632b10c2ca7a6b63d5f0ce7ae6b27152258ec554c
  • Pointer size: 131 Bytes
  • Size of remote file: 209 kB
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/button_power.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:259578bb7bb5a331fd77a0c7a34558150bdf708bae817f76bf1402812070ce1b
3
+ size 106164
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/door.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:49a886d1fbde04420af29301e483c636f29da9e752eb6d0d259ad19fc780b71e
3
+ size 163713
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/rack0.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6de33e1ff8de92fd0c3fb2f4a2ce853ea5d82f053394c2ab7ec2ac4e28c47b41
3
+ size 97617
assets/robocasa/fixtures/dishwashers/Dishwasher051/visuals/rack1.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:db625410ef2a2c85fd00dea632c34bd68e96cca2e5af667a7acd5433c05b070f
3
+ size 96590
assets/robocasa/fixtures/dishwashers/Dishwasher053/metadata.yaml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ asset_id: robocasa.fixtures.dishwashers.Dishwasher053
2
+ source: robocasa
3
+ source_asset_id: Dishwasher053
4
+ asset_type: fixtures
5
+ category: dishwashers
6
+ format: mjcf
7
+ entry_file: model.xml
8
+ license: CC-BY-4.0
9
+ origin_url: https://robocasa.ai
10
+ path: assets/robocasa/fixtures/dishwashers/Dishwasher053
11
+ tags:
12
+ - robocasa
13
+ - mujoco
14
+ - mjcf
15
+ - kitchen
16
+ - dishwasher
17
+ - fixture
assets/robocasa/fixtures/dishwashers/Dishwasher053/model.xml ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version='1.0' encoding='UTF-8'?>
2
+ <mujoco model="model">
3
+ <option timestep="0.002" gravity="0.0 0.0 -9.81"/>
4
+ <compiler angle="radian"/>
5
+ <asset>
6
+ <mesh file="visuals/button_lock.obj" name="button_lock_vis"/>
7
+ <mesh file="visuals/button_power.obj" name="button_power_vis"/>
8
+ <mesh file="visuals/Body001.obj" name="Body001_vis"/>
9
+ <mesh file="visuals/door.obj" name="door_vis"/>
10
+ <mesh file="visuals/rack0.obj" name="rack0_vis"/>
11
+ <mesh file="visuals/rack1.obj" name="rack1_vis"/>
12
+ <texture file="visuals/T_BC001.png" name="Body001_material" type="2d"/>
13
+ <material name="Body001_material" rgba="1 1 1 1.0" texture="Body001_material" shininess="0.6073972582817078" specular="1"/>
14
+ <texture file="visuals/T_BC001.png" name="button_lock_material" type="2d"/>
15
+ <material name="button_lock_material" rgba="1 1 1 1.0" texture="button_lock_material" shininess="0.6073972582817078" specular="0.3103448502657381"/>
16
+ <texture file="visuals/T_BC001.png" name="button_power_material" type="2d"/>
17
+ <material name="button_power_material" rgba="1 1 1 1.0" texture="button_power_material" shininess="0.6073972582817078" specular="0.3103448502657381"/>
18
+ <texture file="visuals/T_BC001.png" name="door_material" type="2d"/>
19
+ <material name="door_material" rgba="1 1 1 1.0" texture="door_material" shininess="0.6073972582817078" specular="1"/>
20
+ <texture file="visuals/T_BC001.png" name="rack0_material" type="2d"/>
21
+ <material name="rack0_material" rgba="1 1 1 1.0" texture="rack0_material" shininess="0.6073972582817078" specular="2"/>
22
+ <texture file="visuals/T_BC001.png" name="rack1_material" type="2d"/>
23
+ <material name="rack1_material" rgba="1 1 1 1.0" texture="rack1_material" shininess="0.6073972582817078" specular="2"/>
24
+ </asset>
25
+ <default>
26
+ <default class="visual">
27
+ <geom conaffinity="0" contype="0" group="1" type="mesh"/>
28
+ </default>
29
+ <default class="collision">
30
+ <geom group="0" rgba="0.5 0 0 0.5"/>
31
+ </default>
32
+ <default class="spawn">
33
+ <geom group="0" rgba="1 1 1 0.5" contype="0" conaffinity="0"/>
34
+ <site group="0" rgba="1 1 1 0.5"/>
35
+ </default>
36
+ <default class="region">
37
+ <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0"/>
38
+ </default>
39
+ </default>
40
+ <worldbody>
41
+ <body>
42
+ <body name="object">
43
+ <geom mesh="Body001_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Body001_material"/>
44
+ <geom class="collision" type="box" pos="0.3195469081401825 0.03049352578818798 -0.0008652372634969652" size="0.005452887155115604 0.3193228244781494 0.4755246639251709" quat="1.0 0.0 0.0 0.0"/>
45
+ <geom class="collision" type="box" pos="-0.3197232484817505 0.02959943749010563 -0.0008680850733071566" size="0.005276618991047144 0.3202167749404907 0.4755217730998993" quat="1.0 0.0 0.0 0.0"/>
46
+ <geom class="collision" type="box" pos="-3.842194473691052e-08 0.049297429621219635 0.417580246925354" size="0.3249998986721039 0.3005189597606659 0.05880957096815109" quat="1.0 0.0 0.0 0.0"/>
47
+ <geom class="collision" type="box" pos="0.23768563568592072 -0.2731601893901825 0.41758012771606445" size="0.08731427043676376 0.022130848839879036 0.05880975350737572" quat="1.0 0.0 0.0 0.0"/>
48
+ <geom class="collision" type="box" pos="-0.0875551849603653 -0.272649884223938 0.4175802767276764" size="0.23744478821754456 0.021620552986860275 0.05880960077047348" quat="1.0 0.0 0.0 0.0"/>
49
+ <geom class="collision" type="box" pos="-1.5806563169462606e-08 0.030639229342341423 -0.42419469356536865" size="0.3249998688697815 0.3191770315170288 0.052195172756910324" quat="1.0 0.0 0.0 0.0"/>
50
+ <geom class="collision" type="box" pos="-3.550383098627208e-08 0.30669325590133667 -0.0094219371676445" size="0.3249998092651367 0.04312392696738243 0.36727073788642883" quat="1.0 0.0 0.0 0.0"/>
51
+ <geom class="collision" type="box" pos="-0.31543615460395813 0.02117220312356949 0.14838247001171112" size="0.006650563795119524 0.19013711810112 0.007469887845218182" quat="1.0 0.0 0.0 0.0"/>
52
+ <geom class="collision" type="box" pos="-0.3152025043964386 0.02117220312356949 -0.17745603621006012" size="0.006381597835570574 0.19013711810112 0.007469888776540756" quat="1.0 0.0 0.0 0.0"/>
53
+ <geom class="collision" type="box" pos="0.31488972902297974 0.02117220312356949 -0.17745603621006012" size="0.006315228529274464 0.19013711810112 0.007469888776540756" quat="1.0 0.0 0.0 0.0"/>
54
+ <geom class="collision" type="box" pos="0.3157113492488861 0.02117220312356949 0.14838247001171112" size="0.007136833854019642 0.19013711810112 0.007469887845218182" quat="1.0 0.0 0.0 0.0"/>
55
+ <body name="button_lock">
56
+ <joint axis="0.0 1.0 0.0" pos="-0.21002115309238434 -0.3024997115135193 0.4177264869213104" limited="true" name="button_lock_joint" range="0.0 0.003" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="4" springref="-1"/>
57
+ <geom mesh="button_lock_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="button_lock_material"/>
58
+ <geom class="collision" type="box" pos="-0.21002115309238434 -0.3045172095298767 0.4174860715866089" size="0.016192251816391945 0.0023901311215013266 0.021154846996068954" quat="1.0 0.0 0.0 0.0"/>
59
+ </body>
60
+ <body name="button_power">
61
+ <joint axis="0.0 1.0 0.0" pos="0.2092234045267105 -0.3024997115135193 0.4177264869213104" limited="true" name="button_power_joint" range="0.0 0.003" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="4" springref="-1"/>
62
+ <geom mesh="button_power_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="button_power_material"/>
63
+ <geom class="collision" type="box" pos="0.2092234045267105 -0.3045172095298767 0.4174860715866089" size="0.016192251816391945 0.0023901311215013266 0.021154848858714104" quat="1.0 0.0 0.0 0.0"/>
64
+ </body>
65
+ <body name="door">
66
+ <joint axis="1.0 0.0 0.0" pos="-9.046045306604356e-05 -0.2885375516489148 -0.3612375552766025" limited="true" name="door_joint" range="0.0 0.6235987755982988" type="hinge" damping="1" frictionloss="10" armature="1" stiffness="2"/>
67
+ <geom mesh="door_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="door_material"/>
68
+ <geom class="collision" type="box" pos="-9.046045306604356e-05 -0.2785291373729706 -0.006001144181936979" size="0.3114652633666992 0.010008400306105614 0.3552364110946655" quat="1.0 0.0 0.0 0.0"/>
69
+ <geom class="collision" type="box" pos="-0.000379952194634825 -0.334861159324646 0.31872302293777466" size="0.19219963252544403 0.014004869386553764 0.014333692379295826" quat="0.9979648590087891 -0.06376658380031586 1.4159025907360036e-17 -2.6513886195414377e-25" name="door_handle_main"/>
70
+ <geom class="collision" type="box" pos="-0.21679207682609558 -0.31781715154647827 0.32058584690093994" size="0.014369867742061615 0.03252572938799858 0.022114161401987076" quat="0.013899299316108227 0.7069703340530396 -0.015007845126092434 -0.7069473266601562"/>
71
+ <geom class="collision" type="box" pos="0.2169979065656662 -0.31771621108055115 0.32061833143234253" size="0.014333294704556465 0.032423343509435654 0.022083843126893044" quat="0.013899299316108227 0.7069703340530396 -0.015007845126092434 -0.7069473266601562"/>
72
+ <geom class="collision" type="box" pos="-9.046045306604356e-05 -0.2853344976902008 -0.006001144181936979" size="0.31146734952926636 0.0032030539587140083 0.3552364110946655" quat="1.0 0.0 0.0 0.0" name="door_main"/>
73
+ </body>
74
+ <body name="rack0">
75
+ <geom class="region" name="reg_rack0" type="box" pos="0.002743169665336609 -0.004573509097099304 -0.10494159907102585" size="0.25864910876750946 0.21195538139343262 0.15367647057771683"/>
76
+ <joint axis="0.0 -1.0 0.0" pos="-0.0006143888458609581 -0.006038481369614601 -0.18971765041351318" limited="true" name="rack0_joint" range="0.0 0.081" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
77
+ <geom mesh="rack0_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack0_material"/>
78
+ <geom class="collision" type="box" pos="0.0016660188557580113 0.020785540342330933 -0.26642823219299316" size="0.29012924432754517 0.21466881036758423 0.003376383800059557" quat="1.0 0.0 0.0 0.0"/>
79
+ <geom class="collision" type="box" pos="-0.2863785922527313 0.020667903125286102 -0.2529175877571106" size="0.005731178447604179 0.21478644013404846 0.016833750531077385" quat="1.0 0.0 0.0 0.0"/>
80
+ <geom class="collision" type="box" pos="-0.29412487149238586 0.020667903125286102 -0.22640131413936615" size="0.016833651810884476 0.21478644013404846 0.005645910743623972" quat="0.4823550879955292 -5.884757925400663e-08 -0.8759757876396179 -8.529080730568239e-08"/>
81
+ <geom class="collision" type="box" pos="-0.2998568117618561 0.02111320197582245 -0.16304901242256165" size="0.006188823841512203 0.2143411785364151 0.052745699882507324" quat="1.0 0.0 0.0 0.0"/>
82
+ <geom class="collision" type="box" pos="-0.3085080683231354 0.02140076458454132 -0.18778908252716064" size="0.002633859170600772 0.1918901950120926 0.0023234589025378227" quat="1.0 0.0 0.0 0.0"/>
83
+ <geom class="collision" type="box" pos="-0.3085080683231354 0.02140076458454132 -0.16727127134799957" size="0.002633859170600772 0.1918901950120926 0.0023234582040458918" quat="1.0 0.0 0.0 0.0"/>
84
+ <geom class="collision" type="box" pos="0.000577675411477685 -0.03990449011325836 -0.26642823219299316" size="0.20991303026676178 0.21466881036758423 0.003376383800059557" quat="1.0 0.0 0.0 0.0"/>
85
+ <geom class="collision" type="box" pos="-0.2778160572052002 -0.21964961290359497 -0.162726029753685" size="0.05306830257177353 0.039873234927654266 0.0033764373511075974" quat="0.6597546935081482 0.25440871715545654 -0.6597546339035034 0.25440868735313416"/>
86
+ <geom class="collision" type="box" pos="-0.0009126450167968869 -0.24716416001319885 -0.18804959952831268" size="0.2089340090751648 0.006340378429740667 0.0801505297422409" quat="1.0 0.0 0.0 0.0"/>
87
+ <geom class="collision" type="box" pos="-0.21426835656166077 -0.24949386715888977 -0.162726029753685" size="0.0398864820599556 0.003536420641466975 0.05306831747293472" quat="1.0 0.0 0.0 0.0"/>
88
+ <geom class="collision" type="box" pos="-0.2671022117137909 -0.2161390334367752 -0.1873312145471573" size="0.01805032417178154 0.04534149542450905 0.0033764371182769537" quat="0.6498845815658569 0.2786577641963959 -0.6498844027519226 0.2786576747894287"/>
89
+ <geom class="collision" type="box" pos="-0.3047977089881897 0.02111320197582245 -0.11315758526325226" size="0.005780012346804142 0.2143411785364151 0.0037815244868397713" quat="1.0 0.0 0.0 0.0"/>
90
+ <geom class="collision" type="box" pos="-0.19273234903812408 0.23852188885211945 -0.11315757036209106" size="0.11591189354658127 0.005780050065368414 0.0037815424147993326" quat="1.0 0.0 0.0 0.0"/>
91
+ <geom class="collision" type="box" pos="0.00275445100851357 0.21388477087020874 -0.11315755546092987" size="0.05314372479915619 0.0057800281792879105 0.0037815228570252657" quat="1.0 0.0 0.0 0.0"/>
92
+ <geom class="collision" type="box" pos="-0.06510243564844131 0.22636380791664124 -0.11315755546092987" size="0.0037815060932189226 0.021321946755051613 0.005779982544481754" quat="0.6408565044403076 0.29883623123168945 -0.6408563256263733 0.2988361418247223"/>
93
+ <geom class="collision" type="box" pos="0.06482300907373428 0.22507742047309875 -0.11315755546092987" size="0.0037815060932189226 0.021321943029761314 0.005779982544481754" quat="0.298836350440979 0.6408564448356628 -0.29883626103401184 0.6408562660217285"/>
94
+ <geom class="collision" type="box" pos="0.19270308315753937 0.23852179944515228 -0.11315764486789703" size="0.11591189354658127 0.005780045408755541 0.0037815424147993326" quat="1.0 0.0 0.0 0.0"/>
95
+ <geom class="collision" type="box" pos="0.30326780676841736 0.02111320197582245 -0.11315758526325226" size="0.005780053324997425 0.2143411785364151 0.003781520063057542" quat="1.0 0.0 0.0 0.0"/>
96
+ <geom class="collision" type="box" pos="0.3073371648788452 0.02140076458454132 -0.16727127134799957" size="0.002992909401655197 0.1918901950120926 0.002323453314602375" quat="1.0 0.0 0.0 0.0"/>
97
+ <geom class="collision" type="box" pos="0.3073371648788452 0.02140076458454132 -0.18778908252716064" size="0.002992909401655197 0.1918901950120926 0.0023234528489410877" quat="1.0 0.0 0.0 0.0"/>
98
+ <geom class="collision" type="box" pos="0.29832690954208374 0.02111320197582245 -0.16304901242256165" size="0.006188864819705486 0.2143411785364151 0.05274546518921852" quat="1.0 0.0 0.0 0.0"/>
99
+ <geom class="collision" type="box" pos="0.2925949692726135 0.020667903125286102 -0.22640131413936615" size="0.016833651810884476 0.21478644013404846 0.005645910277962685" quat="1.44719962236195e-07 0.48235517740249634 1.7913136218794534e-07 -0.8759757280349731"/>
100
+ <geom class="collision" type="box" pos="0.284848690032959 0.020667903125286102 -0.2529175877571106" size="0.0057312194257974625 0.21478644013404846 0.016833683475852013" quat="1.0 0.0 0.0 0.0"/>
101
+ <geom class="collision" type="box" pos="0.2706979513168335 -0.2174314558506012 -0.18809129297733307" size="0.01805032417178154 0.04534149914979935 0.0033764373511075974" quat="0.24159552156925201 -0.6645538210868835 0.24159541726112366 0.6645535826683044"/>
102
+ <geom class="collision" type="box" pos="0.2153654247522354 -0.24949386715888977 -0.162726029753685" size="0.0398864820599556 0.0035363936331123114 0.05306831747293472" quat="1.0 0.0 0.0 0.0"/>
103
+ <geom class="collision" type="box" pos="0.27891311049461365 -0.21964961290359497 -0.162726029753685" size="0.05306830257177353 0.039873234927654266 0.0033764373511075974" quat="0.25440868735313416 -0.6597546935081482 0.25440865755081177 0.6597546339035034"/>
104
+ <geom class="collision" type="box" pos="0.27146536111831665 -0.21916376054286957 -0.11315758526325226" size="0.0037815060932189226 0.04157046601176262 0.005780006293207407" quat="0.23578761518001556 -0.6666365265846252 0.23578760027885437 0.6666364669799805"/>
105
+ <geom class="collision" type="box" pos="-0.19533056020736694 0.2367458939552307 -0.1882169395685196" size="0.11310506612062454 0.006188844796270132 0.07550069689750671" quat="1.0 0.0 0.0 0.0"/>
106
+ <geom class="collision" type="box" pos="0.0023002009838819504 0.2143627107143402 -0.1882169395685196" size="0.05345770716667175 0.006188835483044386 0.07550068944692612" quat="1.0 0.0 0.0 0.0"/>
107
+ <geom class="collision" type="box" pos="-0.06510329246520996 0.22687402367591858 -0.1882169395685196" size="0.07550067454576492 0.021698355674743652 0.006188809871673584" quat="0.6344220042228699 0.31226423382759094 -0.634421706199646 0.312264084815979"/>
108
+ <geom class="collision" type="box" pos="0.07047451287508011 0.22687402367591858 -0.1882169395685196" size="0.07550067454576492 0.021698355674743652 0.006188809871673584" quat="0.3122642934322357 -0.6344218850135803 0.31226423382759094 0.6344217658042908"/>
109
+ <geom class="collision" type="box" pos="0.19220715761184692 0.2367458939552307 -0.1882169395685196" size="0.10461044311523438 0.006188805215060711 0.07550068944692612" quat="1.0 0.0 0.0 0.0"/>
110
+ <geom class="collision" type="box" pos="-0.0003313516790512949 0.13536913692951202 -0.22561310231685638" size="0.0395793579518795 0.20281746983528137 0.0017566158203408122" quat="0.43982160091400146 0.5536758899688721 -0.5536760687828064 0.4398213028907776"/>
111
+ <geom class="collision" type="box" pos="-0.0003313519700895995 0.047370873391628265 -0.22919343411922455" size="0.03777705132961273 0.20281746983528137 0.0017566158203408122" quat="0.6009700298309326 0.37260565161705017 -0.37260550260543823 0.6009702086448669"/>
112
+ <geom class="collision" type="box" pos="-0.00033135199919342995 -0.07459119707345963 -0.22931192815303802" size="0.03777705132961273 0.20281746983528137 0.0017566158203408122" quat="0.6009700298309326 0.37260565161705017 -0.37260550260543823 0.6009702086448669"/>
113
+ <geom class="collision" type="box" pos="-0.00033135199919342995 -0.2023201882839203 -0.22906719148159027" size="0.03777705132961273 0.20281746983528137 0.0017566158203408122" quat="0.3746052086353302 0.599725604057312 -0.5997262597084045 0.3746044933795929"/>
114
+ </body>
115
+ <body name="rack1">
116
+ <geom class="region" name="reg_rack1" type="box" pos="0.0027431845664978027 -0.004573509097099304 0.2106955349445343" size="0.25864912366867066 0.21195538139343262 0.14287276363372803"/>
117
+ <joint axis="0.0 -1.0 0.0" pos="-0.0006143888458609581 -0.006038481369614601 0.11613881587982178" limited="true" name="rack1_joint" range="0.0 0.258" type="slide" damping="1" frictionloss="1" armature=".01" stiffness="0.05"/>
118
+ <geom mesh="rack1_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="rack1_material"/>
119
+ <geom class="collision" type="box" pos="0.0016660188557580113 0.020785540342330933 0.05959241837263107" size="0.29013076424598694 0.21466881036758423 0.003376383800059557" quat="1.0 0.0 0.0 0.0"/>
120
+ <geom class="collision" type="box" pos="-0.2863785922527313 0.020667903125286102 0.07310310006141663" size="0.005731178447604179 0.21478644013404846 0.016833845525979996" quat="1.0 0.0 0.0 0.0"/>
121
+ <geom class="collision" type="box" pos="-0.29412487149238586 0.020667901262640953 0.09961934387683868" size="0.016833651810884476 0.21478644013404846 0.005645910277962685" quat="0.4823550879955292 -5.884757925400663e-08 -0.8759757876396179 -8.529080730568239e-08"/>
122
+ <geom class="collision" type="box" pos="-0.2998568117618561 0.02111320197582245 0.162971630692482" size="0.006188823841512203 0.2143411785364151 0.05274607613682747" quat="1.0 0.0 0.0 0.0"/>
123
+ <geom class="collision" type="box" pos="-0.3085080683231354 0.02140076458454132 0.138231560587883" size="0.002633859170600772 0.1918901950120926 0.002323470078408718" quat="1.0 0.0 0.0 0.0"/>
124
+ <geom class="collision" type="box" pos="-0.3085080683231354 0.02140076458454132 0.15874938666820526" size="0.002633859170600772 0.1918901950120926 0.002323470078408718" quat="1.0 0.0 0.0 0.0"/>
125
+ <geom class="collision" type="box" pos="0.000577675411477685 -0.03990449011325836 0.05959241837263107" size="0.20991455018520355 0.21466881036758423 0.003376383800059557" quat="1.0 0.0 0.0 0.0"/>
126
+ <geom class="collision" type="box" pos="-0.2778160572052002 -0.21964961290359497 0.16329459846019745" size="0.05306830257177353 0.039873234927654266 0.0033764373511075974" quat="0.6597546935081482 0.25440871715545654 -0.6597546339035034 0.25440868735313416"/>
127
+ <geom class="collision" type="box" pos="-0.0009126450167968869 -0.24716416001319885 0.13797104358673096" size="0.2089340090751648 0.006340425927191973 0.0801505297422409" quat="1.0 0.0 0.0 0.0"/>
128
+ <geom class="collision" type="box" pos="-0.21426835656166077 -0.24949386715888977 0.16329459846019745" size="0.0398864820599556 0.0035364441573619843 0.05306831747293472" quat="1.0 0.0 0.0 0.0"/>
129
+ <geom class="collision" type="box" pos="-0.2671022117137909 -0.2161390334367752 0.13868942856788635" size="0.01805032603442669 0.04534149542450905 0.0033764371182769537" quat="0.6498845815658569 0.2786577641963959 -0.6498844027519226 0.2786576747894287"/>
130
+ <geom class="collision" type="box" pos="-0.3047977089881897 0.02111320197582245 0.21286305785179138" size="0.005780012346804142 0.2143411785364151 0.0037815477699041367" quat="1.0 0.0 0.0 0.0"/>
131
+ <geom class="collision" type="box" pos="-0.19273234903812408 0.23852188885211945 0.21286307275295258" size="0.11591189354658127 0.005780097097158432 0.0037815419491380453" quat="1.0 0.0 0.0 0.0"/>
132
+ <geom class="collision" type="box" pos="0.00275445100851357 0.21388477087020874 0.21286308765411377" size="0.05314372479915619 0.005780075676739216 0.003781522624194622" quat="1.0 0.0 0.0 0.0"/>
133
+ <geom class="collision" type="box" pos="-0.06510243564844131 0.22636380791664124 0.21286308765411377" size="0.0037815060932189226 0.021321946755051613 0.005779982544481754" quat="0.6408565044403076 0.29883623123168945 -0.6408563256263733 0.2988361418247223"/>
134
+ <geom class="collision" type="box" pos="0.06482300907373428 0.22507742047309875 0.21286308765411377" size="0.0037815060932189226 0.021321943029761314 0.005779982544481754" quat="0.298836350440979 0.6408564448356628 -0.29883626103401184 0.6408562660217285"/>
135
+ <geom class="collision" type="box" pos="0.19270308315753937 0.23852179944515228 0.2128629982471466" size="0.11591189354658127 0.005780092440545559 0.0037815419491380453" quat="1.0 0.0 0.0 0.0"/>
136
+ <geom class="collision" type="box" pos="0.30326780676841736 0.02111320197582245 0.21286305785179138" size="0.005780053324997425 0.2143411785364151 0.0037815431132912636" quat="1.0 0.0 0.0 0.0"/>
137
+ <geom class="collision" type="box" pos="0.3073371648788452 0.02140076458454132 0.15874938666820526" size="0.002992909401655197 0.1918901950120926 0.0023234656546264887" quat="1.0 0.0 0.0 0.0"/>
138
+ <geom class="collision" type="box" pos="0.3073371648788452 0.02140076458454132 0.138231560587883" size="0.002992909401655197 0.1918901950120926 0.002323464024811983" quat="1.0 0.0 0.0 0.0"/>
139
+ <geom class="collision" type="box" pos="0.29832690954208374 0.02111320197582245 0.162971630692482" size="0.006188864819705486 0.2143411785364151 0.052745845168828964" quat="1.0 0.0 0.0 0.0"/>
140
+ <geom class="collision" type="box" pos="0.2925949692726135 0.020667899399995804 0.09961934387683868" size="0.016833651810884476 0.21478644013404846 0.005645910277962685" quat="1.44719962236195e-07 0.48235517740249634 1.7913136218794534e-07 -0.8759757280349731"/>
141
+ <geom class="collision" type="box" pos="0.284848690032959 0.020667903125286102 0.07310310006141663" size="0.0057312194257974625 0.21478644013404846 0.016833778470754623" quat="1.0 0.0 0.0 0.0"/>
142
+ <geom class="collision" type="box" pos="0.2706979513168335 -0.2174314558506012 0.13792935013771057" size="0.01805032230913639 0.04534149914979935 0.0033764373511075974" quat="0.24159552156925201 -0.6645538210868835 0.24159541726112366 0.6645535826683044"/>
143
+ <geom class="collision" type="box" pos="0.2153654247522354 -0.24949386715888977 0.16329459846019745" size="0.0398864820599556 0.0035364171490073204 0.05306831747293472" quat="1.0 0.0 0.0 0.0"/>
144
+ <geom class="collision" type="box" pos="0.27891311049461365 -0.21964961290359497 0.16329459846019745" size="0.05306830257177353 0.039873234927654266 0.0033764373511075974" quat="0.25440868735313416 -0.6597546935081482 0.25440865755081177 0.6597546339035034"/>
145
+ <geom class="collision" type="box" pos="0.27146536111831665 -0.21916376054286957 0.21286305785179138" size="0.0037815060932189226 0.04157046601176262 0.005780006293207407" quat="0.23578761518001556 -0.6666365265846252 0.23578760027885437 0.6666364669799805"/>
146
+ <geom class="collision" type="box" pos="-0.19533056020736694 0.2367458939552307 0.13780368864536285" size="0.11310506612062454 0.00618889182806015 0.07550069689750671" quat="1.0 0.0 0.0 0.0"/>
147
+ <geom class="collision" type="box" pos="0.0023002009838819504 0.2143627107143402 0.13780370354652405" size="0.05345770716667175 0.006188882514834404 0.07550068944692612" quat="1.0 0.0 0.0 0.0"/>
148
+ <geom class="collision" type="box" pos="-0.06510329246520996 0.22687402367591858 0.13780370354652405" size="0.07550067454576492 0.021698355674743652 0.006188809871673584" quat="0.6344220042228699 0.31226423382759094 -0.634421706199646 0.312264084815979"/>
149
+ <geom class="collision" type="box" pos="0.07047451287508011 0.22687402367591858 0.13780370354652405" size="0.07550067454576492 0.021698355674743652 0.006188809871673584" quat="0.3122642934322357 -0.6344218850135803 0.31226423382759094 0.6344217658042908"/>
150
+ <geom class="collision" type="box" pos="0.19220715761184692 0.2367458939552307 0.13780370354652405" size="0.10461044311523438 0.006188852246850729 0.07550068944692612" quat="1.0 0.0 0.0 0.0"/>
151
+ <geom class="collision" type="box" pos="-0.0003313481865916401 0.13536913692951202 0.10040752589702606" size="0.0395793579518795 0.20281746983528137 0.0017566155875101686" quat="0.43982160091400146 0.5536758899688721 -0.5536760687828064 0.4398213028907776"/>
152
+ <geom class="collision" type="box" pos="-0.0003313510387670249 0.047370873391628265 0.09682722389698029" size="0.03777705132961273 0.20281746983528137 0.0017566161695867777" quat="0.6009700298309326 0.37260565161705017 -0.37260550260543823 0.6009702086448669"/>
153
+ <geom class="collision" type="box" pos="-0.00033135106787085533 -0.07459119707345963 0.09670871496200562" size="0.03777705132961273 0.20281746983528137 0.0017566161695867777" quat="0.6009700298309326 0.37260565161705017 -0.37260550260543823 0.6009702086448669"/>
154
+ <geom class="collision" type="box" pos="-0.00033134460682049394 -0.2023201882839203 0.09695348143577576" size="0.03777705132961273 0.20281746983528137 0.0017566161695867777" quat="0.3746052086353302 0.599725604057312 -0.5997262597084045 0.3746044933795929"/>
155
+ </body>
156
+ <geom class="region" name="reg_int" type="box" pos="0.00041112303733825684 -0.003377273678779602 -0.007237106561660767" size="0.3038339445590973 0.2607539573907852 0.3604498634338379"/>
157
+ <geom class="region" name="reg_main" type="box" pos="-9.531504474580288e-09 0.024816390126943588 -5.962021987215849e-09" size="0.32599995827674866 0.32599998807907105 0.47738988494873047"/>
158
+ </body>
159
+ </body>
160
+ </worldbody>
161
+ <actuator>
162
+ <motor name="button_lock_joint_actuator" joint="button_lock_joint" gear="0.5"/>
163
+ <motor name="button_power_joint_actuator" joint="button_power_joint" gear="0.5"/>
164
+ <motor name="door_joint_actuator" joint="door_joint" gear="50"/>
165
+ <motor name="rack0_joint_actuator" joint="rack0_joint" gear="50"/>
166
+ <motor name="rack1_joint_actuator" joint="rack1_joint" gear="50"/>
167
+ </actuator>
168
+ </mujoco>
assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Body001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7e665a162cbe9c64152a59d1b8cd549db9d7704bcb9b138ba2de843eea9183de
3
+ size 36570
assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Button001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90883a5e78f2cd4695d4aa53641ecde316968144c57ae64778181d165f37340c
3
+ size 41048
assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Door001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:efad360f99ec1db91be1674cb0a4f30b7de3096e87cb82464de1b2bca086b552
3
+ size 28144
assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Handle001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:a53c512d2a2265001742dadda0a65ca53f491f4e8df7dcf860a1cb178a27f974
3
+ size 126122
assets/robocasa/fixtures/dishwashers/Dishwasher053/visuals/Shelf001.obj ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b2b3121261adcac86d568a376e0c9087f5f53b7f6d2d2e772871f64264b049c
3
+ size 1523451