Added a collision midphase on geom pairs using rotated AABBs static trees.
PiperOrigin-RevId: 517357695 Change-Id: I068fee714d9638be2fb6d042d5d86f8ff970635b
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
47b58f5ccb
commit
70959c1a2c
+177
@@ -0,0 +1,177 @@
|
||||
<mujoco>
|
||||
<default>
|
||||
<default class="wall">
|
||||
<geom type="plane" size=".5 .5 .05"/>
|
||||
</default>
|
||||
<default class="plank">
|
||||
<geom type="box" size=".02 .02 .4" euler="-45 0 0"/>
|
||||
<default class="joist">
|
||||
<geom euler="0 90 0" rgba=".5 .5 .7 1"/>
|
||||
</default>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<statistic extent="1.5" meansize=".05"/>
|
||||
|
||||
<visual>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
||||
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
||||
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
|
||||
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
|
||||
|
||||
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
|
||||
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
|
||||
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
|
||||
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
|
||||
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
|
||||
|
||||
<body pos="-.4 -.4 .4">
|
||||
<freejoint/>
|
||||
<geom class="plank" pos="0 .25 0"/>
|
||||
<geom class="plank" pos=".05 .25 0"/>
|
||||
<geom class="plank" pos=".10 .25 0"/>
|
||||
<geom class="plank" pos=".15 .25 0"/>
|
||||
<geom class="plank" pos=".20 .25 0"/>
|
||||
<geom class="plank" pos=".25 .25 0"/>
|
||||
<geom class="plank" pos=".30 .25 0"/>
|
||||
<geom class="plank" pos=".35 .25 0"/>
|
||||
<geom class="plank" pos=".40 .25 0"/>
|
||||
<geom class="plank" pos=".45 .25 0"/>
|
||||
<geom class="plank" pos=".50 .25 0"/>
|
||||
<geom class="plank" pos=".55 .25 0"/>
|
||||
<geom class="plank" pos=".60 .25 0"/>
|
||||
<geom class="plank" pos=".65 .25 0"/>
|
||||
<geom class="plank" pos=".70 .25 0"/>
|
||||
<geom class="plank" pos=".75 .25 0"/>
|
||||
<geom class="plank" pos=".80 .25 0"/>
|
||||
<geom class="joist" pos=".40 .09 -.2"/>
|
||||
<geom class="joist" pos=".40 .49 .2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-.4 -.4 .5">
|
||||
<freejoint/>
|
||||
<geom class="plank" pos="0 .25 0"/>
|
||||
<geom class="plank" pos=".05 .25 0"/>
|
||||
<geom class="plank" pos=".10 .25 0"/>
|
||||
<geom class="plank" pos=".15 .25 0"/>
|
||||
<geom class="plank" pos=".20 .25 0"/>
|
||||
<geom class="plank" pos=".25 .25 0"/>
|
||||
<geom class="plank" pos=".30 .25 0"/>
|
||||
<geom class="plank" pos=".35 .25 0"/>
|
||||
<geom class="plank" pos=".40 .25 0"/>
|
||||
<geom class="plank" pos=".45 .25 0"/>
|
||||
<geom class="plank" pos=".50 .25 0"/>
|
||||
<geom class="plank" pos=".55 .25 0"/>
|
||||
<geom class="plank" pos=".60 .25 0"/>
|
||||
<geom class="plank" pos=".65 .25 0"/>
|
||||
<geom class="plank" pos=".70 .25 0"/>
|
||||
<geom class="plank" pos=".75 .25 0"/>
|
||||
<geom class="plank" pos=".80 .25 0"/>
|
||||
<geom class="joist" pos=".40 .09 -.2"/>
|
||||
<geom class="joist" pos=".40 .49 .2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-.4 -.4 .6">
|
||||
<freejoint/>
|
||||
<geom class="plank" pos="0 .25 0"/>
|
||||
<geom class="plank" pos=".05 .25 0"/>
|
||||
<geom class="plank" pos=".10 .25 0"/>
|
||||
<geom class="plank" pos=".15 .25 0"/>
|
||||
<geom class="plank" pos=".20 .25 0"/>
|
||||
<geom class="plank" pos=".25 .25 0"/>
|
||||
<geom class="plank" pos=".30 .25 0"/>
|
||||
<geom class="plank" pos=".35 .25 0"/>
|
||||
<geom class="plank" pos=".40 .25 0"/>
|
||||
<geom class="plank" pos=".45 .25 0"/>
|
||||
<geom class="plank" pos=".50 .25 0"/>
|
||||
<geom class="plank" pos=".55 .25 0"/>
|
||||
<geom class="plank" pos=".60 .25 0"/>
|
||||
<geom class="plank" pos=".65 .25 0"/>
|
||||
<geom class="plank" pos=".70 .25 0"/>
|
||||
<geom class="plank" pos=".75 .25 0"/>
|
||||
<geom class="plank" pos=".80 .25 0"/>
|
||||
<geom class="joist" pos=".40 .09 -.2"/>
|
||||
<geom class="joist" pos=".40 .49 .2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-.4 -.4 .7">
|
||||
<freejoint/>
|
||||
<geom class="plank" pos="0 .25 0"/>
|
||||
<geom class="plank" pos=".05 .25 0"/>
|
||||
<geom class="plank" pos=".10 .25 0"/>
|
||||
<geom class="plank" pos=".15 .25 0"/>
|
||||
<geom class="plank" pos=".20 .25 0"/>
|
||||
<geom class="plank" pos=".25 .25 0"/>
|
||||
<geom class="plank" pos=".30 .25 0"/>
|
||||
<geom class="plank" pos=".35 .25 0"/>
|
||||
<geom class="plank" pos=".40 .25 0"/>
|
||||
<geom class="plank" pos=".45 .25 0"/>
|
||||
<geom class="plank" pos=".50 .25 0"/>
|
||||
<geom class="plank" pos=".55 .25 0"/>
|
||||
<geom class="plank" pos=".60 .25 0"/>
|
||||
<geom class="plank" pos=".65 .25 0"/>
|
||||
<geom class="plank" pos=".70 .25 0"/>
|
||||
<geom class="plank" pos=".75 .25 0"/>
|
||||
<geom class="plank" pos=".80 .25 0"/>
|
||||
<geom class="joist" pos=".40 .09 -.2"/>
|
||||
<geom class="joist" pos=".40 .49 .2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-.4 -.4 .8">
|
||||
<freejoint/>
|
||||
<geom class="plank" pos="0 .25 0"/>
|
||||
<geom class="plank" pos=".05 .25 0"/>
|
||||
<geom class="plank" pos=".10 .25 0"/>
|
||||
<geom class="plank" pos=".15 .25 0"/>
|
||||
<geom class="plank" pos=".20 .25 0"/>
|
||||
<geom class="plank" pos=".25 .25 0"/>
|
||||
<geom class="plank" pos=".30 .25 0"/>
|
||||
<geom class="plank" pos=".35 .25 0"/>
|
||||
<geom class="plank" pos=".40 .25 0"/>
|
||||
<geom class="plank" pos=".45 .25 0"/>
|
||||
<geom class="plank" pos=".50 .25 0"/>
|
||||
<geom class="plank" pos=".55 .25 0"/>
|
||||
<geom class="plank" pos=".60 .25 0"/>
|
||||
<geom class="plank" pos=".65 .25 0"/>
|
||||
<geom class="plank" pos=".70 .25 0"/>
|
||||
<geom class="plank" pos=".75 .25 0"/>
|
||||
<geom class="plank" pos=".80 .25 0"/>
|
||||
<geom class="joist" pos=".40 .09 -.2"/>
|
||||
<geom class="joist" pos=".40 .49 .2"/>
|
||||
</body>
|
||||
|
||||
<body pos="-.4 -.4 .9">
|
||||
<freejoint/>
|
||||
<geom class="plank" pos="0 .25 0"/>
|
||||
<geom class="plank" pos=".05 .25 0"/>
|
||||
<geom class="plank" pos=".10 .25 0"/>
|
||||
<geom class="plank" pos=".15 .25 0"/>
|
||||
<geom class="plank" pos=".20 .25 0"/>
|
||||
<geom class="plank" pos=".25 .25 0"/>
|
||||
<geom class="plank" pos=".30 .25 0"/>
|
||||
<geom class="plank" pos=".35 .25 0"/>
|
||||
<geom class="plank" pos=".40 .25 0"/>
|
||||
<geom class="plank" pos=".45 .25 0"/>
|
||||
<geom class="plank" pos=".50 .25 0"/>
|
||||
<geom class="plank" pos=".55 .25 0"/>
|
||||
<geom class="plank" pos=".60 .25 0"/>
|
||||
<geom class="plank" pos=".65 .25 0"/>
|
||||
<geom class="plank" pos=".70 .25 0"/>
|
||||
<geom class="plank" pos=".75 .25 0"/>
|
||||
<geom class="plank" pos=".80 .25 0"/>
|
||||
<geom class="joist" pos=".40 .09 -.2"/>
|
||||
<geom class="joist" pos=".40 .49 .2"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user