| <mujoco> |
| <default> |
| <mesh scale="10 10 10" inertia="exact"/> |
| </default> |
| <asset> |
| <mesh file="cube_cup.obj"/> |
| <mesh file="cube_cup_quad.obj"/> |
| <mesh file="cube_cup_hi.obj"/> |
| </asset> |
| <worldbody> |
| <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/> |
| <body pos="-1.5 0 1"> |
| <geom type="mesh" mesh="cube_cup" density="2"/> |
| </body> |
| <body pos="0 0 1"> |
| <geom type="mesh" mesh="cube_cup_quad" density="2"/> |
| </body> |
| <body pos="1.5 0 1"> |
| <geom type="mesh" mesh="cube_cup_hi" density="2"/> |
| </body> |
| <body pos="3 0 1"> |
| <geom type="box" pos="0 0 0.05" size=".5 .5 .05" density="2"/> |
| <geom type="box" pos="-.45 0 .55" size=".05 .5 .45" density="2"/> |
| <geom type="box" pos=" .45 0 .55" size=".05 .5 .45" density="2"/> |
| <geom type="box" pos="0 -.45 .55" size=".4 .05 .45" density="2"/> |
| <geom type="box" pos="0 .45 .55" size=".4 .05 .45" density="2"/> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
