| <mujoco> | |
| <extension> | |
| <plugin plugin="mujoco.sdf.bowl"> | |
| <instance name="bowl"> | |
| <config key="height" value="0.4"/> | |
| <config key="radius" value="1.0"/> | |
| <config key="thickness" value="0.02"/> | |
| </instance> | |
| </plugin> | |
| </extension> | |
| <asset> | |
| <mesh name="bowl"> | |
| <plugin instance="bowl"/> | |
| </mesh> | |
| </asset> | |
| <option sdf_iterations="5" sdf_initpoints="20"/> | |
| <default> | |
| <geom solref="0.01 1" solimp=".95 .99 .0001" condim="1"/> | |
| </default> | |
| <statistic meansize=".1"/> | |
| <include file="scene.xml"/> | |
| <worldbody> | |
| <light name="left" pos="0 0 4"/> | |
| <light name="right" pos="-1 -1 2" dir="1 1 -2"/> | |
| <body euler="45 -15 0" pos="0 0 1"> | |
| <geom type="sdf" name="bowl" mesh="bowl" rgba=".2 .8 .8 1"> | |
| <plugin instance="bowl"/> | |
| </geom> | |
| </body> | |
| <body pos=".6 -.4 2.5"> | |
| <freejoint/> | |
| <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/> | |
| </body> | |
| <body pos="0 -.4 2.5"> | |
| <freejoint/> | |
| <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/> | |
| </body> | |
| <body pos=".3 -.4 2.5"> | |
| <freejoint/> | |
| <geom type="sphere" size=".15" rgba=".8 .17 .15 1"/> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |