File size: 1,287 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 | <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>
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