Alessio Quaglino
1afd98ec4b
The following dependencies are disabled with a cmake patch file. - Enoki - OpenMP - Assimp - FCPW PiperOrigin-RevId: 565352386 Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
65 lines
1.5 KiB
XML
65 lines
1.5 KiB
XML
<mujoco>
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<compiler texturedir="asset"/>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.15"/>
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<config key="radius2" value="0.05"/>
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</instance>
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</plugin>
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<plugin plugin="mujoco.sdf.sdflib">
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<instance name="sdf">
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<config key="aabb" value="0"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<texture name="texspot" type="2d" file="spot.png"/>
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<material name="matspot" texture="texspot"/>
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<mesh name="spot" file="asset/spot.obj">
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<plugin instance="sdf"/>
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</mesh>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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</asset>
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<option sdf_iterations="20" sdf_initpoints="40"/>
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<visual>
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<map force="1000"/>
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</visual>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/>
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</default>
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<statistic meansize="0.2"/>
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<include file="scene.xml"/>
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<worldbody>
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<body pos="0.1 .25 5.7">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body euler="90 0 0" pos="0 0 .7">
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<geom type="sdf" name="cow1" mesh="spot" material="matspot">
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<plugin instance="sdf"/>
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</geom>
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</body>
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<body pos="0.05 .25 2.2">
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<freejoint/>
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<geom type="sdf" name="cow2" mesh="spot" material="matspot">
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<plugin instance="sdf"/>
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</geom>
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</body>
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<light name="left" pos="0 0 1"/>
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<light name="right" pos="1 0 1"/>
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</worldbody>
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</mujoco>
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