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  1. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet.xml +109 -0
  2. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/metal.png +3 -0
  3. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_base/visual/white_cabinet_base_vis.msh +3 -0
  4. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_bottom/visual/white_cabinet_bottom_vis.msh +3 -0
  5. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_bottom_handle/visual/white_cabinet_bottom_handle_vis.msh +3 -0
  6. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_middle/visual/white_cabinet_middle_vis.msh +3 -0
  7. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_middle_handle/visual/white_cabinet_middle_handle_vis.msh +3 -0
  8. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_top/visual/white_cabinet_top_vis.msh +3 -0
  9. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_cabinet_top_handle/visual/white_cabinet_top_handle_vis.msh +3 -0
  10. assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet/white_wood.png +3 -0
  11. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/configuration/wooden_cabinet_base.usd +3 -0
  12. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/configuration/wooden_cabinet_physics.usd +3 -0
  13. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/configuration/wooden_cabinet_sensor.usd +3 -0
  14. assets/libero/COMMON/articulated_objects/wooden_cabinet/mjcf/wooden_cabinet/wooden_cabinet.usd +3 -0
  15. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/Contents.usda +3 -0
  16. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/Geometry.usda +3 -0
  17. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/GeometryLibrary.usdc +3 -0
  18. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/Materials.usda +3 -0
  19. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/MaterialsLibrary.usdc +3 -0
  20. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/Physics.usda +3 -0
  21. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/Textures/dark_fine_wood.png +3 -0
  22. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/Payload/Textures/metal.png +3 -0
  23. assets/libero/COMMON/articulated_objects/wooden_cabinet/usd/wooden_cabinet.usda +3 -0
  24. assets/libero/COMMON/turbosquid_objects/wine_bottle/mjcf/cork_texture.png +3 -0
  25. assets/libero/COMMON/turbosquid_objects/wine_bottle/mjcf/label_wine.png +3 -0
  26. assets/libero/COMMON/turbosquid_objects/wine_bottle/mjcf/visual/wine_bottle_red_cork_vis.msh +3 -0
  27. assets/libero/COMMON/turbosquid_objects/wine_bottle/mjcf/visual/wine_bottle_red_logo_vis.msh +3 -0
  28. assets/libero/COMMON/turbosquid_objects/wine_bottle/mjcf/visual/wine_bottle_red_main_vis.msh +3 -0
  29. assets/libero/COMMON/turbosquid_objects/wine_bottle/mjcf/wine_bottle.xml +45 -0
  30. assets/libero/COMMON/turbosquid_objects/wine_rack/mjcf/light-wood.png +3 -0
  31. assets/libero/COMMON/turbosquid_objects/wine_rack/mjcf/mahogany.png +3 -0
  32. assets/libero/COMMON/turbosquid_objects/wine_rack/mjcf/visual/wine_rack_planes_vis.msh +3 -0
  33. assets/libero/COMMON/turbosquid_objects/wine_rack/mjcf/visual/wine_rack_stand_vis.msh +3 -0
  34. assets/libero/COMMON/turbosquid_objects/wine_rack/mjcf/visual/wine_rack_stoppers_vis.msh +3 -0
  35. assets/libero/COMMON/turbosquid_objects/wine_rack/mjcf/wine_rack.xml +36 -0
  36. assets/maniskill/charger/base/.asset_hash +1 -0
  37. assets/maniskill/charger/base/base.urdf +22 -0
  38. assets/maniskill/charger/base/base.usd +3 -0
  39. assets/maniskill/charger/base/config.yaml +47 -0
  40. assets/maniskill/charger/base/meshes/mesh.obj +3 -0
  41. assets/maniskill/charger/charger/.asset_hash +1 -0
  42. assets/maniskill/charger/charger/charger.urdf +22 -0
  43. assets/maniskill/charger/charger/charger.usd +3 -0
  44. assets/maniskill/charger/charger/config.yaml +47 -0
  45. assets/maniskill/charger/charger/meshes/mesh.obj +3 -0
  46. assets/maniskill/peg/base_0.urdf +22 -0
  47. assets/maniskill/peg/base_0/.asset_hash +1 -0
  48. assets/maniskill/peg/base_0/base_0.urdf +22 -0
  49. assets/maniskill/peg/base_0/base_0.usd +3 -0
  50. assets/maniskill/peg/base_0/config.yaml +47 -0
assets/libero/COMMON/articulated_objects/white_cabinet/mjcf/white_cabinet.xml ADDED
@@ -0,0 +1,109 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="white_cabinet">
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+ <compiler angle="radian" meshdir="./" />
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+ <size njmax="500" nconmax="100" />
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+ <asset>
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+ <texture file="white_cabinet/white_wood.png" name="tex-white_cabinet" type="2d"/>
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+ <material name="white_cabinet_top" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_top/visual/white_cabinet_top_vis.msh" name="white_cabinet_top_vis" scale="0.05 0.05 0.05"/>
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+ <texture file="white_cabinet/white_wood.png" name="tex-white_cabinet_base" type="2d"/>
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+ <material name="white_cabinet_base" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet_base" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_base/visual/white_cabinet_base_vis.msh" name="white_cabinet_base_vis" scale="0.05 0.05 0.05"/>
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+ <texture file="white_cabinet/metal.png" name="tex-white_cabinet_handle" type="2d"/>
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+ <material name="white_cabinet_top_handle" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet_handle" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_top_handle/visual/white_cabinet_top_handle_vis.msh" name="white_cabinet_top_handle_vis" scale="0.05 0.05 0.05"/>
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+ <material name="white_cabinet_middle" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_middle/visual/white_cabinet_middle_vis.msh" name="white_cabinet_middle_vis" scale="0.05 0.05 0.05"/>
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+ <material name="white_cabinet_middle_handle" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet_handle" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_middle_handle/visual/white_cabinet_middle_handle_vis.msh" name="white_cabinet_middle_handle_vis" scale="0.05 0.05 0.05"/>
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+ <material name="white_cabinet_bottom" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_bottom/visual/white_cabinet_bottom_vis.msh" name="white_cabinet_bottom_vis" scale="0.05 0.05 0.05"/>
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+ <material name="white_cabinet_bottom_handle" reflectance="0.5" texrepeat="1 1" texture="tex-white_cabinet_handle" texuniform="false"/>
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+ <mesh file="white_cabinet/white_cabinet_bottom_handle/visual/white_cabinet_bottom_handle_vis.msh" name="white_cabinet_bottom_handle_vis" scale="0.05 0.05 0.05"/>
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+ </asset>
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+ <worldbody>
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+ <body>
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+ <body name="object">
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+ <body name="base" pos ="0 0 0.0">
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+ <site type="box" pos="0.00354 0.01567 0.22152" quat="1 0 0 0" size="0.12534 0.09438 0.00147" group="0" rgba="0.8 0.8 0 0" name="top_side"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="white_cabinet_base_vis" conaffinity="0" contype="0" group="1" material="white_cabinet_base"/>
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+ <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="box" pos="-0.11216 0.01625 0.11426" quat="0.00000 0.00000 1.00000 0.00000" size="0.00517 0.09542 0.10584" group="0" rgba="0.8 0.8 0.8 0.3"/>
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+ <body name="cabinet_top" pos="0 0.0 0">
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+ <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
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+ <joint name="top_level" type="slide" pos="0 0 0" axis="0 1 0"
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+ limited="true" range="-0.16 0.01" damping="50"/>
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+ <site type="box" pos="0.00328 0.01128 0.18563"
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+ </body>
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+ <body name="cabinet_middle" pos="0 0.0 0">
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+ <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
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+ <joint name="middle_level" type="slide" pos="0 0 0" axis="0 1 0"
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+ </body>
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+ <body name="cabinet_bottom" pos="0 0.0 0">
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+ <inertial pos="0 0 0" mass="3" diaginertia="1 1 1" />
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+ <joint name="bottom_level" type="slide" pos="0 0 0" axis="0 1 0"
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+ limited="true" range="-0.16 0.01" damping="50"/>
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