72 lines
3.4 KiB
XML
72 lines
3.4 KiB
XML
<mujoco model="mug">
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<visual>
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<headlight ambient="0 0 0" diffuse="0 0 0" specular="1 1 1"/>
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<quality shadowsize="8192"/>
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</visual>
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<asset>
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<texture name="mug" file="mug.png" type="2d"/>
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<material name="mug" texture="mug" specular="1" shininess="1"/>
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<mesh file="mug.obj" scale=".01 .01 .01"/>
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<material name="floor" reflectance=".1"/>
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</asset>
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<default>
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<default class="collision">
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<geom type="box" group="3"/>
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<default class="cup">
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<geom size="0.0026 0.00704 0.033"/>
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</default>
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<default class="handle">
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<geom size="0.0025 0.00328 0.0055"/>
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</default>
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</default>
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</default>
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<worldbody>
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<light pos=".4 -.4 .3" dir="-2 2 -1.5" diffuse=".6 .6 .6"/>
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<light pos="-.2 -.4 .3" dir="1 2 -1.5" diffuse=".6 .6 .6"/>
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<geom type="plane" size="5 5 .01" rgba="1 1 1 1" material="floor"/>
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<body name="mug">
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<freejoint/>
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<geom type="mesh" mesh="mug" material="mug" euler="90 0 0" group="1" contype="0" conaffinity="0"/>
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<geom class="cup" pos="0.0418 0 0.038" euler="0 0 0"/>
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<geom class="cup" pos="0.0398 0.0129 0.038" euler="0 0 18"/>
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<geom class="cup" pos="0.0339 0.0246 0.038" euler="0 0 36"/>
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<geom class="cup" pos="0.0246 0.0339 0.038" euler="0 0 54"/>
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<geom class="cup" pos="0.0129 0.0398 0.038" euler="0 0 72"/>
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<geom class="cup" pos="0 0.0418 0.038" euler="0 0 90"/>
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<geom class="cup" pos="-0.0129 0.0398 0.038" euler="0 0 108"/>
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<geom class="cup" pos="-0.0246 0.0339 0.038" euler="0 0 126"/>
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<geom class="cup" pos="-0.0339 0.0246 0.038" euler="0 0 144"/>
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<geom class="cup" pos="-0.0398 0.0129 0.038" euler="0 0 162"/>
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<geom class="cup" pos="-0.0418 0 0.038" euler="0 0 180"/>
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<geom class="cup" pos="-0.0398 -0.0129 0.038" euler="0 0 198"/>
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<geom class="cup" pos="-0.0339 -0.0246 0.038" euler="0 0 216"/>
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<geom class="cup" pos="-0.0246 -0.0339 0.038" euler="0 0 234"/>
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<geom class="cup" pos="-0.0129 -0.0398 0.038" euler="0 0 252"/>
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<geom class="cup" pos="0 -0.0418 0.038" euler="0 0 270"/>
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<geom class="cup" pos="0.0129 -0.0398 0.038" euler="0 0 288"/>
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<geom class="cup" pos="0.0246 -0.0339 0.038" euler="0 0 306"/>
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<geom class="cup" pos="0.0339 -0.0246 0.038" euler="0 0 324"/>
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<geom class="cup" pos="0.0398 -0.0129 0.038" euler="0 0 342"/>
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<geom class="cup" type="cylinder" size="0.045 0.0026" pos="0 0 0.0026"/>
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<body name="handle" pos="0.056 0 0.0395" euler="90 0 0">
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<geom class="handle" pos="0.0193 0 0" euler="0 0 0"/>
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<geom class="handle" pos="0.0184 0.00568 0" euler="0 0 17.1"/>
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<geom class="handle" pos="0.0159 0.0108 0" euler="0 0 34.3"/>
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<geom class="handle" pos="0.012 0.0151 0" euler="0 0 51.4"/>
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<geom class="handle" pos="0.00703 0.0179 0" euler="0 0 68.6"/>
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<geom class="handle" pos="0.00144 0.0192 0" euler="0 0 85.7"/>
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<geom class="handle" pos="0.00144 -0.0192 0" euler="0 0 274"/>
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<geom class="handle" pos="0.00703 -0.0179 0" euler="0 0 291"/>
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<geom class="handle" pos="0.012 -0.0151 0" euler="0 0 309"/>
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<geom class="handle" pos="0.0159 -0.0108 0" euler="0 0 326"/>
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<geom class="handle" pos="0.0184 -0.00568 0" euler="0 0 343"/>
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<geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 -0.0195 0"/>
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<geom class="collision" size="0.007 0.0025 0.0055" pos="-0.007 0.0195 0"/>
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</body>
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</body>
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</worldbody>
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</mujoco>
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