Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
124 lines
4.2 KiB
XML
124 lines
4.2 KiB
XML
<mujoco model="2 Humanoids and 100 objects">
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<!--
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Model designed for a maximally-elaborate island structure.
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More horizontal gravity leads to larger, fewer islands.
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-->
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<option timestep="0.005" cone="elliptic" impratio="10" sleep_tolerance="1e-3">
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<flag island="enable" sleep="enable"/>
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</option>
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<size memory="100M"/>
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<default>
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<geom condim="6" friction="1 .01 .003"/>
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<default class="capsule">
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<geom type="capsule" material="capsule" size="0.1 0.05"/>
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</default>
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<default class="ellipsoid">
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<geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
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</default>
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<default class="box">
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<geom type="box" material="box" size="0.15 0.1 0.05"/>
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</default>
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<default class="cylinder">
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<geom type="cylinder" material="cylinder" size="0.1 0.05"/>
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</default>
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<default class="sphere">
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<geom type="sphere" material="sphere" size="0.1"/>
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</default>
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<default class="border">
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<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
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</default>
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<default class="borderpost">
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<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
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</default>
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</default>
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<asset>
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<model file="humanoid.xml"/>
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<texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
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<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
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<material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
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<material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
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<material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
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<material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
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<material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
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<material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
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</asset>
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<visual>
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<quality shadowsize="4096" offsamples="8"/>
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<map znear="0.1" force="0.05"/>
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</visual>
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<statistic extent="4"/>
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<worldbody>
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<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
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<geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
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<geom class="border" fromto="-3 3 0 3 3 0"/>
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<geom class="border" fromto="-3 -3 0 3 -3 0"/>
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<geom class="border" fromto="3 3 0 3 -3 0"/>
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<geom class="border" fromto="-3 3 0 -3 -3 0"/>
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<geom class="borderpost" pos="3 3 0"/>
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<geom class="borderpost" pos="-3 3 0"/>
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<geom class="borderpost" pos="3 -3 0"/>
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<geom class="borderpost" pos="-3 -3 0"/>
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<replicate count="4" euler="0 0 90">
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<geom type="plane" size=".5 3 .05" zaxis="1 0 0" pos="-3 0 0.4"/>
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</replicate>
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<replicate count="20" offset="0 0 0.2" euler="0 0 20">
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<body pos="-2 0 0.5" euler="30 40 0">
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<freejoint/>
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<geom class="capsule"/>
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</body>
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</replicate>
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<attach model="Humanoid" body="torso" prefix="1_"/>
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<frame euler="0 0 72">
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<replicate count="20" offset="0 0 0.2" euler="0 0 20">
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<body pos="-2 0 0.5" euler="20 40 60">
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<freejoint/>
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<geom class="ellipsoid"/>
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</body>
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</replicate>
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</frame>
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<frame euler="0 0 144">
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<replicate count="20" offset="0 0 0.2" euler="0 0 20">
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<body pos="-2 0 0.5" euler="30 70 110">
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<freejoint/>
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<geom class="box"/>
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</body>
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</replicate>
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</frame>
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<frame pos="1 1 0" euler="0 0 144">
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<attach model="Humanoid" body="torso" prefix="2_"/>
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</frame>
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<frame euler="0 0 216">
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<replicate count="20" offset="0 0 0.2" euler="0 0 20">
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<body pos="-2 0 0.5" euler="60 30 0">
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<freejoint/>
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<geom class="cylinder"/>
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</body>
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</replicate>
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</frame>
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<frame euler="0 0 288">
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<replicate count="20" offset="0 0 0.2" euler="0 0 20">
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<body pos="-2 0 0.5" euler="60 30 0">
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<freejoint/>
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<geom class="sphere"/>
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</body>
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</replicate>
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</frame>
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</worldbody>
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</mujoco>
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