| <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="40"/> | |
| <include file="scene.xml"/> | |
| <default> | |
| <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.1"/> | |
| </default> | |
| <worldbody> | |
| <body pos="-1 0 3.8"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".2 .2 .8 1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body pos="-1 0 3.4"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body pos="-1 0 3"> | |
| <freejoint/> | |
| <geom type="sdf" mesh="torus" rgba=".8 .2 .2 1"> | |
| <plugin instance="torus"/> | |
| </geom> | |
| </body> | |
| <body pos="0 0 2"> | |
| <geom type="cylinder" size=".1" fromto="1 0 -1 -1 0 1"/> | |
| </body> | |
| <body pos="0 0 2"> | |
| <geom type="cylinder" size=".5" fromto="1.2 0 -1.2 1 0 -1"/> | |
| </body> | |
| <light name="left" pos="-2 0 7" cutoff="80"/> | |
| <light name="right" pos="2 0 7" cutoff="80"/> | |
| </worldbody> | |
| </mujoco> | |