Add Signed Distance Field to collision geometries.

PiperOrigin-RevId: 557507088 Change-Id: I358a642407aee1ba8dfc9d405eb9a4f609435fe9
2023-08-16 09:14:29 -07:00
parent 6245edae28
commit fdb041580c
57 changed files with 3229 additions and 81 deletions
@@ -0,0 +1,56 @@
+
+<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="0.26"/>
+      </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="15" sdf_initpoints="60"/>
+
+  <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>