| <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> |
|
|
