<mujoco model="mug">
  <compiler angle="radian" />

  <asset>
    <mesh name="mug_visual_mesh" file="mug/textured.obj" />
    <mesh name="mug_collision_mesh_0" file="mug/textured_coacd_0.stl" />
    <mesh name="mug_collision_mesh_1" file="mug/textured_coacd_1.stl" />
    <mesh name="mug_collision_mesh_2" file="mug/textured_coacd_2.stl" />
    <mesh name="mug_collision_mesh_3" file="mug/textured_coacd_3.stl" />
    <texture name="mug_texture" type="2d" file="mug/texture_map.png" />
    <material name="mug_material" texture="mug_texture" />
  </asset>

  <worldbody>
    <body name="mug" pos="0 0 0" euler="0 0 0">
      <freejoint name="mug_joint" />
      <geom name="mug_visual_geom" type="mesh" mesh="mug_visual_mesh" material="mug_material" pos="0.018858606464151616 -0.01657296231165061 -0.026898852026976835" euler="0 0 0" contype="0" conaffinity="0" group="0" />
      <geom name="mug_collision_geom_0" type="mesh" mesh="mug_collision_mesh_0" pos="0.018858606464151616 -0.01657296231165061 -0.026898852026976835" euler="0 0 0" contype="1" conaffinity="1" group="3" />
      <geom name="mug_collision_geom_1" type="mesh" mesh="mug_collision_mesh_1" pos="0.018858606464151616 -0.01657296231165061 -0.026898852026976835" euler="0 0 0" contype="1" conaffinity="1" group="3" />
      <geom name="mug_collision_geom_2" type="mesh" mesh="mug_collision_mesh_2" pos="0.018858606464151616 -0.01657296231165061 -0.026898852026976835" euler="0 0 0" contype="1" conaffinity="1" group="3" />
      <geom name="mug_collision_geom_3" type="mesh" mesh="mug_collision_mesh_3" pos="0.018858606464151616 -0.01657296231165061 -0.026898852026976835" euler="0 0 0" contype="1" conaffinity="1" group="3" />
      <inertial pos="0 0 0" euler="0 0 0" mass="0.118" diaginertia="0.001 0.001 0.001" />
    </body>
  </worldbody>
</mujoco>