<mujocoinclude>
    <body childclass="cm_base" name="mug">

      <geom name="mug"
      mesh="mug"
      pos="0 0 0.034"
      material="cmwhite"/>
      <geom material="cmwhite" euler="1.571 0 0" mesh="handle" pos="0.039 0 0.047"/>
      <geom class="cm_col" pos="0 0 0.035" size="0.028 0.033" type="cylinder" mass=".1"/>
      <geom class="cm_col" euler="1.57 0 0" pos="0.034 0 0.042" size="0.02 0.005" type="cylinder" mass=".01"/>

      <site name="objSite" size="0.01" rgba="0 0 0 0"/>
    </body>
</mujocoinclude>
