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<mujoco model="model">
  <option timestep="0.002" gravity="0.0 0.0 -9.81"/>
  <compiler angle="radian"/>
  <asset>
    <mesh file="visual/Clear.obj" name="Pitcher005_Clear_vis"/>
    <mesh file="visual/Prop.obj" name="Pitcher005_Prop_vis"/>
    <texture file="visual/T_BC001.png" name="Pitcher005_Clear_material" type="2d"/>
    <material name="Pitcher005_Clear_material" rgba="1 1 1 0.20000000298023224" texture="Pitcher005_Clear_material" shininess="0.1" specular="1"/>
    <texture file="visual/T_BC001.png" name="Pitcher005_Prop_material" type="2d"/>
    <material name="Pitcher005_Prop_material" rgba="1 1 1 1.0" texture="Pitcher005_Prop_material" shininess="0.5" specular="0.3103448502657381"/>
    <mesh file="collision/collision_mesh_collision_0.obj" name="Pitcher005_collision_mesh_0"/>
    <mesh file="collision/collision_mesh_collision_1.obj" name="Pitcher005_collision_mesh_1"/>
    <mesh file="collision/collision_mesh_collision_2.obj" name="Pitcher005_collision_mesh_2"/>
    <mesh file="collision/collision_mesh_collision_3.obj" name="Pitcher005_collision_mesh_3"/>
    <mesh file="collision/collision_mesh_collision_4.obj" name="Pitcher005_collision_mesh_4"/>
  </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="Pitcher005_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="Pitcher005_Clear_material"/>
        <body name="Pitcher005_Prop">
          <geom mesh="Pitcher005_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="Pitcher005_Prop_material"/>
        </body>
        <geom class="region" name="reg_bbox" type="box" pos="0.0 0.0 -9.433500000000095e-05" size="0.04970789 0.04970639 0.113948335"/>
        <geom mesh="Pitcher005_collision_mesh_0" type="mesh" class="collision"/>
        <geom mesh="Pitcher005_collision_mesh_1" type="mesh" class="collision"/>
        <geom mesh="Pitcher005_collision_mesh_2" type="mesh" class="collision"/>
        <geom mesh="Pitcher005_collision_mesh_3" type="mesh" class="collision"/>
        <geom mesh="Pitcher005_collision_mesh_4" type="mesh" class="collision"/>
      </body>
    </body>
  </worldbody>
  <actuator/>
</mujoco>