| <mujoco model="model"> |
| <option timestep="0.002" gravity="0.0 0.0 -9.81"/> |
| <compiler angle="radian"/> |
| <asset> |
| <mesh file="visual/Clear.obj" name="Pitcher003_Clear_vis"/> |
| <mesh file="visual/Lid.obj" name="Pitcher003_Lid_vis"/> |
| <mesh file="visual/Prop.obj" name="Pitcher003_Prop_vis"/> |
| <texture file="visual/T_BC001.png" name="Pitcher003_Clear_material" type="2d"/> |
| <material name="Pitcher003_Clear_material" rgba="1 1 1 0.20000000298023224" texture="Pitcher003_Clear_material" shininess="0.5" specular="0.3103448502657381"/> |
| <texture file="visual/T_BC001.png" name="Pitcher003_Lid_material" type="2d"/> |
| <material name="Pitcher003_Lid_material" rgba="1 1 1 1.0" texture="Pitcher003_Lid_material" shininess="0.5" specular="5"/> |
| <texture file="visual/T_BC001.png" name="Pitcher003_Prop_material" type="2d"/> |
| <material name="Pitcher003_Prop_material" rgba="1 1 1 1.0" texture="Pitcher003_Prop_material" shininess="0.5" specular="0.3103448502657381"/> |
| <mesh file="collision/collision_mesh_collision_0.obj" name="Pitcher003_collision_mesh_0"/> |
| <mesh file="collision/collision_mesh_collision_1.obj" name="Pitcher003_collision_mesh_1"/> |
| <mesh file="collision/collision_mesh_collision_2.obj" name="Pitcher003_collision_mesh_2"/> |
| <mesh file="collision/collision_mesh_collision_3.obj" name="Pitcher003_collision_mesh_3"/> |
| <mesh file="collision/collision_mesh_collision_4.obj" name="Pitcher003_collision_mesh_4"/> |
| <mesh file="collision/collision_mesh_collision_5.obj" name="Pitcher003_collision_mesh_5"/> |
| <mesh file="collision/collision_mesh_collision_6.obj" name="Pitcher003_collision_mesh_6"/> |
| <mesh file="collision/collision_mesh_collision_7.obj" name="Pitcher003_collision_mesh_7"/> |
| <mesh file="collision/collision_mesh_collision_8.obj" name="Pitcher003_collision_mesh_8"/> |
| <mesh file="collision/collision_mesh_collision_9.obj" name="Pitcher003_collision_mesh_9"/> |
| <mesh file="collision/collision_mesh_collision_10.obj" name="Pitcher003_collision_mesh_10"/> |
| <mesh file="collision/collision_mesh_collision_11.obj" name="Pitcher003_collision_mesh_11"/> |
| <mesh file="collision/collision_mesh_collision_12.obj" name="Pitcher003_collision_mesh_12"/> |
| <mesh file="collision/collision_mesh_collision_13.obj" name="Pitcher003_collision_mesh_13"/> |
| <mesh file="collision/collision_mesh_collision_14.obj" name="Pitcher003_collision_mesh_14"/> |
| <mesh file="collision/collision_mesh_collision_15.obj" name="Pitcher003_collision_mesh_15"/> |
| </asset> |
| <default> |
| <default class="visual"> |
| <geom conaffinity="0" contype="0" group="1" type="mesh"/> |
| </default> |
| <default class="collision"> |
| <geom group="0" rgba="0.5 0 0 0.5" density="1.0" solref="0.004 1" solimp="0.998 0.998 0.001"/> |
| </default> |
| <default class="spawn"> |
| <geom group="0" rgba="1 1 1 0.5" contype="0" conaffinity="0"/> |
| <site group="0" rgba="1 1 1 0.5"/> |
| </default> |
| <default class="region"> |
| <geom group="1" conaffinity="0" contype="0" rgba="0 1 0 0" mass="0"/> |
| </default> |
| </default> |
| <worldbody> |
| <body> |
| <body name="object"> |
| <geom mesh="Pitcher003_Clear_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Pitcher003_Clear_material"/> |
| <body name="Pitcher003_Lid"> |
| <geom mesh="Pitcher003_Lid_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Pitcher003_Lid_material"/> |
| </body> |
| <body name="Pitcher003_Prop"> |
| <geom mesh="Pitcher003_Prop_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Pitcher003_Prop_material"/> |
| </body> |
| <geom class="region" name="reg_bbox" type="box" pos="-2.3100000000053633e-06 -0.00010229999999999961 4.607999999999696e-05" size="0.07968322 0.08804177 0.12427658999999999"/> |
| <geom mesh="Pitcher003_collision_mesh_0" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_1" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_2" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_3" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_4" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_5" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_6" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_7" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_8" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_9" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_10" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_11" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_12" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_13" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_14" type="mesh" class="collision"/> |
| <geom mesh="Pitcher003_collision_mesh_15" type="mesh" class="collision"/> |
| </body> |
| </body> |
| </worldbody> |
| <actuator/> |
| </mujoco> |
|
|
