| <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> | |