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