| <mujoco model="dishware_cup_tea_a01"> | |
| <compiler angle="radian" autolimits="true"/> | |
| <option timestep="0.002" integrator="implicitfast" cone="elliptic" impratio="10"/> | |
| <asset> | |
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| </asset> | |
| <worldbody> | |
| <light pos="0 0 4" dir="0 0 -1"/> | |
| <geom name="floor" type="plane" size="10 10 0.1"/> | |
| <body name="cupTea_01_obj_00" pos="0 0 0" quat="1 0 0 0"> | |
| <freejoint name="cupTea_01_obj_00_free"/> | |
| <geom type="mesh" mesh="cupTea_01_obj_00_h0" group="3" mass="1.34827" friction="0.3 0.005 0.0001"/> | |
| </body> | |
| </worldbody> | |
| <contact> | |
| </contact> | |
| </mujoco> | |