| <mujoco model="mug"> |
| <visual> |
| <headlight ambient="0 0 0" diffuse="0 0 0" specular="1 1 1"/> |
| <quality shadowsize="8192"/> |
| </visual> |
|
|
| <asset> |
| <texture name="mug" file="mug.png" type="2d"/> |
| <material name="mug" texture="mug" specular="1" shininess="1"/> |
| <mesh file="mug.obj" scale=".01 .01 .01"/> |
| <material name="floor" reflectance=".1"/> |
| </asset> |
|
|
| <default> |
| <default class="collision"> |
| <geom type="box" group="3"/> |
| <default class="cup"> |
| <geom size="0.0026 0.00704 0.033"/> |
| </default> |
| <default class="handle"> |
| <geom size="0.0025 0.00328 0.0055"/> |
| </default> |
| </default> |
| </default> |
|
|
| <worldbody> |
| <light pos=".4 -.4 .3" dir="-2 2 -1.5" diffuse=".6 .6 .6"/> |
| <light pos="-.2 -.4 .3" dir="1 2 -1.5" diffuse=".6 .6 .6"/> |
| <geom type="plane" size="5 5 .01" rgba="1 1 1 1" material="floor"/> |
| <body name="mug"> |
| <freejoint/> |
| <geom type="mesh" mesh="mug" material="mug" euler="90 0 0" group="1" contype="0" conaffinity="0"/> |
| <geom class="cup" pos="0.0418 0 0.038" euler="0 0 0"/> |
| <geom class="cup" pos="0.0398 0.0129 0.038" euler="0 0 18"/> |
| <geom class="cup" pos="0.0339 0.0246 0.038" euler="0 0 36"/> |
| <geom class="cup" pos="0.0246 0.0339 0.038" euler="0 0 54"/> |
| <geom class="cup" pos="0.0129 0.0398 0.038" euler="0 0 72"/> |
| <geom class="cup" pos="0 0.0418 0.038" euler="0 0 90"/> |
| <geom class="cup" pos="-0.0129 0.0398 0.038" euler="0 0 108"/> |
| <geom class="cup" pos="-0.0246 0.0339 0.038" euler="0 0 126"/> |
| <geom class="cup" pos="-0.0339 0.0246 0.038" euler="0 0 144"/> |
| <geom class="cup" pos="-0.0398 0.0129 0.038" euler="0 0 162"/> |
| <geom class="cup" pos="-0.0418 0 0.038" euler="0 0 180"/> |
| <geom class="cup" pos="-0.0398 -0.0129 0.038" euler="0 0 198"/> |
| <geom class="cup" pos="-0.0339 -0.0246 0.038" euler="0 0 216"/> |
| <geom class="cup" pos="-0.0246 -0.0339 0.038" euler="0 0 234"/> |
| <geom class="cup" pos="-0.0129 -0.0398 0.038" euler="0 0 252"/> |
| <geom class="cup" pos="0 -0.0418 0.038" euler="0 0 270"/> |
| <geom class="cup" pos="0.0129 -0.0398 0.038" euler="0 0 288"/> |
| <geom class="cup" pos="0.0246 -0.0339 0.038" euler="0 0 306"/> |
| <geom class="cup" pos="0.0339 -0.0246 0.038" euler="0 0 324"/> |
| <geom class="cup" pos="0.0398 -0.0129 0.038" euler="0 0 342"/> |
| <geom class="cup" type="cylinder" size="0.045 0.0026" pos="0 0 0.0026"/> |
| <body name="handle" pos="0.056 0 0.0395" euler="90 0 0"> |
| <geom class="handle" pos="0.0193 0 0" euler="0 0 0"/> |
| <geom class="handle" pos="0.0184 0.00568 0" euler="0 0 17.1"/> |
| <geom class="handle" pos="0.0159 0.0108 0" euler="0 0 34.3"/> |
| <geom class="handle" pos="0.012 0.0151 0" euler="0 0 51.4"/> |
| <geom class="handle" pos="0.00703 0.0179 0" euler="0 0 68.6"/> |
| <geom class="handle" pos="0.00144 0.0192 0" euler="0 0 85.7"/> |
| <geom class="handle" pos="0.00144 -0.0192 0" euler="0 0 274"/> |
| <geom class="handle" pos="0.00703 -0.0179 0" euler="0 0 291"/> |
| <geom class="handle" pos="0.012 -0.0151 0" euler="0 0 309"/> |
| <geom class="handle" pos="0.0159 -0.0108 0" euler="0 0 326"/> |
| <geom class="handle" pos="0.0184 -0.00568 0" euler="0 0 343"/> |
| <geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 -0.0195 0"/> |
| <geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 0.0195 0"/> |
| </body> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
