|
|
| <mujoco> |
| <extension> |
| <plugin plugin="mujoco.sdf.torus"> |
| <instance name="torus"> |
| <config key="radius1" value="0.35"/> |
| <config key="radius2" value="0.15"/> |
| </instance> |
| </plugin> |
| </extension> |
|
|
| <asset> |
| <mesh name="torus"> |
| <plugin instance="torus"/> |
| </mesh> |
| </asset> |
|
|
| <option sdf_iterations="10" sdf_initpoints="40"/> |
|
|
| <include file="scene.xml"/> |
|
|
| <default> |
| <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.1"/> |
| </default> |
|
|
| <worldbody> |
| <body pos="-1 0 3.8"> |
| <freejoint/> |
| <geom type="sdf" mesh="torus" rgba=".2 .2 .8 1"> |
| <plugin instance="torus"/> |
| </geom> |
| </body> |
| <body pos="-1 0 3.4"> |
| <freejoint/> |
| <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1"> |
| <plugin instance="torus"/> |
| </geom> |
| </body> |
| <body pos="-1 0 3"> |
| <freejoint/> |
| <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1"> |
| <plugin instance="torus"/> |
| </geom> |
| </body> |
| <body pos="0 0 2"> |
| <geom type="cylinder" size=".1" fromto="1 0 -1 -1 0 1"/> |
| </body> |
| <body pos="0 0 2"> |
| <geom type="cylinder" size=".5" fromto="1.2 0 -1.2 1 0 -1"/> |
| </body> |
| <light name="left" pos="-2 0 7" cutoff="80"/> |
| <light name="right" pos="2 0 7" cutoff="80"/> |
| </worldbody> |
| </mujoco> |
|
|
