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- <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="0.255"/>
- </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="10" sdf_initpoints="20"/>
- <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>
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