From 5efbff8d38daa3546af0af9687d89018add2c099 Mon Sep 17 00:00:00 2001
From: Haofei Lu <74221638+Josh00-Lu@users.noreply.github.com>
Date: Sun, 20 Oct 2024 13:52:00 +0800
Subject: [PATCH] Update kettle_asset.xml

---
 .../adept_models/kitchen/assets/kettle_asset.xml     | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/d4rl/kitchen/adept_models/kitchen/assets/kettle_asset.xml b/d4rl/kitchen/adept_models/kitchen/assets/kettle_asset.xml
index dbe8e9bf..95a7c6a6 100644
--- a/d4rl/kitchen/adept_models/kitchen/assets/kettle_asset.xml
+++ b/d4rl/kitchen/adept_models/kitchen/assets/kettle_asset.xml
@@ -13,11 +13,13 @@
         <material name="kettle_white" rgba=".9 .9 .9 1" reflectance="1" shininess="1" />
         <material name="kettle_collision_blue" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0" />
     </asset>
-    <default class="kettle">
-        <joint damping="2" frictionloss="2" armature=".01" limited="true" />
-        <geom conaffinity="0" contype="0" group="1" material="kettle_white" type="mesh"/>
-        <default class="kettle_collision">
-            <geom conaffinity="1" condim="4" contype="1" group="4" margin="0.001" material="kettle_collision_blue" solimp=".8 .9 .01" solref=".02 1" type="mesh"/>
+    <default>
+        <default class="kettle">
+            <joint damping="2" frictionloss="2" armature=".01" limited="true" />
+            <geom conaffinity="0" contype="0" group="1" material="kettle_white" type="mesh"/>
+            <default class="kettle_collision">
+                <geom conaffinity="1" condim="4" contype="1" group="4" margin="0.001" material="kettle_collision_blue" solimp=".8 .9 .01" solref=".02 1" type="mesh"/>
+            </default>
         </default>
     </default>
 </mujocoinclude>