| <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> | |
| <option gravity="0 0 -9.81"/> | |
| <asset> | |
| <mesh name="torus"> | |
| <plugin instance="torus"/> | |
| </mesh> | |
| <mesh file="../../mug/mug.obj" scale=".2 .2 .2"/> | |
| </asset> | |
| <include file="scene.xml"/> | |
| <worldbody> | |
| <body pos="0 .05 2.5" euler="90 0 0"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body> | |
| <geom type="mesh" mesh="mug" euler="90 0 0" rgba="0 0 1 .2"/> | |
| </body> | |
| <light pos="1 0 7" dir="0 0 -1" castshadow="false"/> | |
| <light pos="-1 0 7" dir="0 0 -1" castshadow="false"/> | |
| </worldbody> | |
| </mujoco> | |