Drinking glass
Transparent object grasping
Kitchenware and household objects
Mug
Rigid mugs and cups in more than ten shapes and handle styles, for pick and place and dishwashing.
Also called cup, coffee cup or tea cup.
Rigid body
Delivered as USD for NVIDIA Isaac Sim
How is the mug modeled?
Handles are labeled grasp regions and modeled accurately in the collision mesh, so hooking a finger through the handle works. Walls are hollow with real thickness.
What ships in the USD?
One USD file per variant, with the render mesh, the simulation geometry and a physics material bound to it. Every value is set and named, so you can open it in NVIDIA Isaac Sim and run your task, or read the numbers into your own solver from the material JSON.
- Rigid body. A body with mass, center of mass, inertia and a collision mesh, plus friction and restitution.
Where is it used?
- Pick and place
- Loading a dishwasher
- Hanging on a hook
Industries: Household, Hospitality
Questions
Which simulators does the mug open in?
It ships as USD for NVIDIA Isaac Sim and Newton. We also deliver MJCF for MuJoCo and Genesis, a GLB mesh, and a JSON file with every material value.
Can it be matched to our real object?
Yes. Send us a sample, a drawing or a few photos and we set size, stiffness and friction to match your part.
How do we get it?
Choose your simulator, format and variant, then tell us where to send it. We prepare the files and email them to you.
