File size: 1,330 Bytes
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<mujoco>
<extension>
<plugin plugin="mujoco.sdf.nut">
<instance name="nut">
<config key="radius" value="0.26"/>
</instance>
</plugin>
<plugin plugin="mujoco.sdf.bolt">
<instance name="bolt">
<config key="radius" value="0.255"/>
</instance>
</plugin>
</extension>
<compiler autolimits="true"/>
<include file="scene.xml"/>
<visual>
<map force="0.05"/>
</visual>
<asset>
<mesh name="nut">
<plugin instance="nut"/>
</mesh>
<mesh name="bolt">
<plugin instance="bolt"/>
</mesh>
</asset>
<option sdf_iterations="10" sdf_initpoints="20"/>
<default>
<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.01"/>
</default>
<statistic meansize=".1"/>
<worldbody>
<body pos="-0.0012496 0.00329058 0.830362" quat="-0.000212626 0.999996 -0.00200453 0.00185878">
<joint type="free" damping="30"/>
<geom type="sdf" name="nut" mesh="nut" rgba="0.83 0.68 0.4 1">
<plugin instance="nut"/>
</geom>
</body>
<body euler="180 0 0">
<geom type="sdf" name="bolt" mesh="bolt" rgba="0.7 0.7 0.7 1">
<plugin instance="bolt"/>
</geom>
</body>
<light name="left" pos="-1 0 2" cutoff="80"/>
<light name="right" pos="1 0 2" cutoff="80"/>
</worldbody>
</mujoco>
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