Yuval Tassa
47e35e632f
PiperOrigin-RevId: 845777469 Change-Id: I76a162b71bea349cca3472001360181654a5d571
109 lines
3.4 KiB
XML
109 lines
3.4 KiB
XML
<mujoco model="Mixed convex objects">
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<statistic extent="1.5" meansize=".05"/>
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<visual>
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<rgba haze="0.15 0.25 0.35 1"/>
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<map shadowscale="0.5" zfar="40" force="0.01"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/>
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<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"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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<mesh name="icosahedron" scale=".05 .05 .05"
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vertex="0 1 1.618
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0 -1 1.618
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0 1 -1.618
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0 -1 -1.618
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1 1.618 0
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-1 1.618 0
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1 -1.618 0
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-1 -1.618 0
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1.618 0 1
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1.618 0 -1
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-1.618 0 1
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-1.618 0 -1"/>
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<mesh name="meshbox" scale=".05 .05 .05"
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vertex="-1 -1 -1
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1 -1 -1
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1 1 -1
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1 1 1
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1 -1 1
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-1 1 -1
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-1 1 1
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-1 -1 1"/>
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<hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03"
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elevation="1 0 1 0 1
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0 2 0 2 0
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1 0 1 0 1
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0 2 0 2 0
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1 0 1 0 1"/>
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</asset>
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<default>
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<geom solref="2e-3 1" size=".05 .15 .07"/>
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</default>
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<option timestep="1e-3" solver="PGS"/>
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<worldbody>
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<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/>
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<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/>
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<geom type="plane" size="3 3 .01"/>
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<geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/>
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<replicate count="4" euler="0 0 90">
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<geom type="hfield" hfield="hfield" zaxis="1 0 0" pos="-.5 0 .5" rgba=".5 .5 .5 .2"/>
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</replicate>
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<replicate count="15" euler="0 0 60" offset="0 0 .15">
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<body pos="-.3 -.3 .3" euler="10 20 30">
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<freejoint/>
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<geom type="ellipsoid"/>
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</body>
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</replicate>
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<replicate count="15" euler="0 0 60" offset="0 0 .15">
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<body pos="-.3 -.3 1" euler="10 20 30">
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<freejoint/>
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<geom type="box"/>
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</body>
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</replicate>
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<replicate count="15" euler="0 0 60" offset="0 0 .15">
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<body pos="-.3 -.3 .6" euler="10 20 30">
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<freejoint/>
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<geom type="capsule"/>
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</body>
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</replicate>
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<replicate count="15" euler="0 0 60" offset="0 0 .15">
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<body pos="-.3 .3 .3" euler="10 20 30">
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<freejoint/>
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<geom type="cylinder"/>
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</body>
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</replicate>
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<replicate count="20" euler="0 0 60" offset="0 0 .15">
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<body pos="-.15 .15 .3" euler="10 20 30">
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<freejoint/>
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<geom type="mesh" mesh="icosahedron"/>
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</body>
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</replicate>
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<replicate count="20" euler="0 0 60" offset="0 0 .15">
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<body pos=".15 -.15 .3" euler="10 20 30">
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<freejoint/>
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<geom type="mesh" mesh="meshbox"/>
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</body>
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</replicate>
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<replicate count="15" euler="0 0 60" offset="0 0 .15">
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<body pos=".05 0 .3" euler="10 20 30">
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<freejoint/>
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<geom type="sphere"/>
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</body>
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</replicate>
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</worldbody>
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</mujoco>
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