| <mujoco model="model"> |
| <option timestep="0.002" gravity="0.0 0.0 -9.81"/> |
| <compiler angle="radian"/> |
| <asset> |
| <mesh file="visual/Clear.obj" name="Pitcher002_Clear_vis"/> |
| <mesh file="visual/Prop001.obj" name="Pitcher002_Prop001_vis"/> |
| <mesh file="visual/Prop002.obj" name="Pitcher002_Prop002_vis"/> |
| <mesh file="visual/Prop003.obj" name="Pitcher002_Prop003_vis"/> |
| <texture file="visual/T_BC001.png" name="Pitcher002_Clear_material" type="2d"/> |
| <material name="Pitcher002_Clear_material" rgba="1 1 1 0.20000000298023224" texture="Pitcher002_Clear_material" shininess="0.4472135901451111" specular="0.3103448502657381"/> |
| <texture file="visual/T_BC001.png" name="Pitcher002_Prop001_material" type="2d"/> |
| <material name="Pitcher002_Prop001_material" rgba="1 1 1 1.0" texture="Pitcher002_Prop001_material" shininess="1" specular="1"/> |
| <texture file="visual/T_BC001.png" name="Pitcher002_Prop002_material" type="2d"/> |
| <material name="Pitcher002_Prop002_material" rgba="1 1 1 1.0" texture="Pitcher002_Prop002_material" shininess="0.4472135901451111" specular="0.3103448502657381"/> |
| <texture file="visual/T_BC001.png" name="Pitcher002_Prop003_material" type="2d"/> |
| <material name="Pitcher002_Prop003_material" rgba="1 1 1 0.75" texture="Pitcher002_Prop003_material" shininess="0.4472135901451111" specular="0.3103448502657381"/> |
| <mesh file="collision/collision_mesh_collision_0.obj" name="Pitcher002_collision_mesh_0"/> |
| <mesh file="collision/collision_mesh_collision_1.obj" name="Pitcher002_collision_mesh_1"/> |
| <mesh file="collision/collision_mesh_collision_2.obj" name="Pitcher002_collision_mesh_2"/> |
| <mesh file="collision/collision_mesh_collision_3.obj" name="Pitcher002_collision_mesh_3"/> |
| <mesh file="collision/collision_mesh_collision_4.obj" name="Pitcher002_collision_mesh_4"/> |
| <mesh file="collision/collision_mesh_collision_5.obj" name="Pitcher002_collision_mesh_5"/> |
| <mesh file="collision/collision_mesh_collision_6.obj" name="Pitcher002_collision_mesh_6"/> |
| </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="Pitcher002_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="Pitcher002_Clear_material"/> |
| <body name="Pitcher002_Prop001"> |
| <geom mesh="Pitcher002_Prop001_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Pitcher002_Prop001_material"/> |
| </body> |
| <body name="Pitcher002_Prop002"> |
| <geom mesh="Pitcher002_Prop002_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Pitcher002_Prop002_material"/> |
| </body> |
| <body name="Pitcher002_Prop003"> |
| <geom mesh="Pitcher002_Prop003_vis" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" friction="0.95 0.3 0.1" class="visual" material="Pitcher002_Prop003_material"/> |
| </body> |
| <geom class="region" name="reg_bbox" type="box" pos="-1.8499999999976868e-07 0.0001098250000000009 5.484999999999518e-06" size="0.049435885 0.06842774500000001 0.133834115"/> |
| <geom mesh="Pitcher002_collision_mesh_0" type="mesh" class="collision"/> |
| <geom mesh="Pitcher002_collision_mesh_1" type="mesh" class="collision"/> |
| <geom mesh="Pitcher002_collision_mesh_2" type="mesh" class="collision"/> |
| <geom mesh="Pitcher002_collision_mesh_3" type="mesh" class="collision"/> |
| <geom mesh="Pitcher002_collision_mesh_4" type="mesh" class="collision"/> |
| <geom mesh="Pitcher002_collision_mesh_5" type="mesh" class="collision"/> |
| <geom mesh="Pitcher002_collision_mesh_6" type="mesh" class="collision"/> |
| </body> |
| </body> |
| </worldbody> |
| <actuator/> |
| </mujoco> |
|
|
