57 lines
1.3 KiB
XML
57 lines
1.3 KiB
XML
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.nut">
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<instance name="nut">
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<config key="radius" value="0.26"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.sdf.bolt">
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<instance name="bolt">
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<config key="radius" value="0.255"/>
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</instance>
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</plugin>
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</extension>
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<compiler autolimits="true"/>
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<include file="scene.xml"/>
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<visual>
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<map force="0.05"/>
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</visual>
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<asset>
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<mesh name="nut">
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<plugin instance="nut"/>
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</mesh>
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<mesh name="bolt">
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<plugin instance="bolt"/>
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</mesh>
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</asset>
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<option sdf_iterations="10" sdf_initpoints="20"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.01"/>
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</default>
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<statistic meansize=".1"/>
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<worldbody>
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<body pos="-0.0012496 0.00329058 0.830362" quat="-0.000212626 0.999996 -0.00200453 0.00185878">
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<joint type="free" damping="30"/>
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<geom type="sdf" name="nut" mesh="nut" rgba="0.83 0.68 0.4 1">
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<plugin instance="nut"/>
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</geom>
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</body>
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<body euler="180 0 0">
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<geom type="sdf" name="bolt" mesh="bolt" rgba="0.7 0.7 0.7 1">
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<plugin instance="bolt"/>
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</geom>
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</body>
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<light name="left" pos="-1 0 2" cutoff="80"/>
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<light name="right" pos="1 0 2" cutoff="80"/>
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</worldbody>
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</mujoco>
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