| <mujoco> |
| <compiler texturedir="asset"/> |
|
|
| <extension> |
| <plugin plugin="mujoco.sdf.torus"> |
| <instance name="torus"> |
| <config key="radius1" value="0.15"/> |
| <config key="radius2" value="0.05"/> |
| </instance> |
| </plugin> |
| </extension> |
|
|
| <asset> |
| <texture name="texspot" type="2d" file="spot.png"/> |
| <material name="matspot" texture="texspot"/> |
| <mesh name="spot" file="asset/spot.obj"/> |
| <mesh name="torus"> |
| <plugin instance="torus"/> |
| </mesh> |
| </asset> |
|
|
| <option sdf_iterations="20" sdf_initpoints="40"/> |
|
|
| <visual> |
| <map force="1000"/> |
| </visual> |
|
|
| <default> |
| <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/> |
| </default> |
|
|
| <statistic meansize="0.2"/> |
|
|
| <include file="scene.xml"/> |
|
|
| <worldbody> |
| <body pos="0.1 .25 5.7"> |
| <freejoint/> |
| <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1"> |
| <plugin instance="torus"/> |
| </geom> |
| </body> |
| <body euler="90 0 0" pos="0 0 .7"> |
| <geom type="sdf" name="cow1" mesh="spot" material="matspot"/> |
| </body> |
| <body pos="0.05 .25 2.2"> |
| <freejoint/> |
| <geom type="sdf" name="cow2" mesh="spot" material="matspot"/> |
| </body> |
| <light name="left" pos="0 0 1"/> |
| <light name="right" pos="1 0 1"/> |
| </worldbody> |
| </mujoco> |
|
|
