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<mujoco>
<compiler exactmeshinertia="true"/>
<asset>
<mesh file="cube_cup.obj" scale="10 10 10"/>
<mesh file="cube_cup_quad.obj" scale="10 10 10"/>
<mesh file="cube_cup_hi.obj" scale="10 10 10"/>
</asset>
<worldbody>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<body pos="-1.5 0 1">
<geom type="mesh" mesh="cube_cup" density="1"/>
</body>
<body pos="0 0 1">
<geom type="mesh" mesh="cube_cup_quad" density="1"/>
</body>
<body pos="1.5 0 1">
<geom type="mesh" mesh="cube_cup_hi" density="1"/>
</body>
<body pos="3 0 1">
<geom type="box" pos="0 0 0.05" size=".5 .5 .05" density="1"/>
<geom type="box" pos="-.45 0 .55" size=".05 .5 .45" density="1"/>
<geom type="box" pos=" .45 0 .55" size=".05 .5 .45" density="1"/>
<geom type="box" pos="0 -.45 .55" size=".4 .05 .45" density="1"/>
<geom type="box" pos="0 .45 .55" size=".4 .05 .45" density="1"/>
</body>
</worldbody>
</mujoco>
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