| <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> | |
| <asset> | |
| <mesh name="torus"> | |
| <plugin instance="torus"/> | |
| </mesh> | |
| </asset> | |
| <option sdf_iterations="10" sdf_initpoints="20"/> | |
| <include file="scene.xml"/> | |
| <default> | |
| <geom solref="0.01 1" solimp=".95 .99 .0001"/> | |
| </default> | |
| <worldbody> | |
| <body pos="0 0 .175"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body pos=".1 .1 1.2"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body pos=".1 .1 2.6"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body pos="-.1 .2 2"> | |
| <freejoint/> | |
| <geom type="sphere" size="0.3"/> | |
| </body> | |
| <body pos=".3 -.1 2" euler="0 0 45"> | |
| <freejoint/> | |
| <geom type="ellipsoid" size=".4 .2 .2"/> | |
| </body> | |
| <body pos="-.1 .1 .5"> | |
| <freejoint/> | |
| <geom type="capsule" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/> | |
| </body> | |
| <body pos=".2 -.2 .3"> | |
| <freejoint/> | |
| <geom type="cylinder" size=".1" fromto="-.2 -.2 .1 .2 .2 .1"/> | |
| </body> | |
| <body pos=".1 .1 3.5"> | |
| <freejoint/> | |
| <geom type="box" size=".2 .2 .2"/> | |
| </body> | |
| <light name="left" pos="0 0 1"/> | |
| <light name="right" pos="1 0 1"/> | |
| </worldbody> | |
| </mujoco> | |