Yuval Tassa
8734cab366
https://youtu.be/vct493lGQ8Q PiperOrigin-RevId: 829390353 Change-Id: I92f85a03be0bb585d2d8e29de1ed1a2e848f247f
93 lines
2.8 KiB
XML
93 lines
2.8 KiB
XML
<!-- Copyright 2025 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="sleeping dominos">
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<option cone="elliptic" impratio="10" sleep_tolerance="3e-4">
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<flag sleep="enable"/>
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</option>
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<default>
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<default class="domino">
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<geom type="box" size=".008 .044 .089" rgba=".9 .9 .9 1" mass="0.09"/>
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</default>
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</default>
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<worldbody>
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<light pos=".5 0 3" diffuse="1 1 1"/>
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<geom type="plane" size="2 2 .01" pos=".5 0 1e-6"/>
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<!-- one domino atilt kicks off the chain reaction -->
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<body pos="-.1 0 .089" euler="0 7 0">
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<freejoint/>
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<geom type="box" class="domino"/>
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</body>
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<!-- 5 rows of 15 dominoes, arranged in toppling order for consistent ids and colors -->
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<!-- 3 rows of 15 dominoes, left to right -->
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<replicate count="3" offset="0 1 0">
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<frame pos="0 -1 0">
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<replicate count="15" offset=".1 0 0">
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<body pos="0 0 .089">
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<freejoint/>
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<geom type="box" class="domino"/>
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</body>
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</replicate>
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</frame>
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</replicate>
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<!-- 2 rows of 15 dominoes, right to left -->
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<replicate count="2" offset="0 1 0">
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<frame pos="0 -.5 0">
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<replicate count="15" offset="-.1 0 0">
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<body pos="1.4 0 .089">
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<freejoint/>
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<geom type="box" class="domino"/>
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</body>
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</replicate>
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</frame>
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</replicate>
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<!-- two "U turns", place blocks not too close in order to break the island chain -->
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<replicate offset="0 -.55 0" count="2">
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<frame pos="1.5 .26 0">
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<replicate count="5" euler="0 0 45">
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<body pos="0 -.23 .089">
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<freejoint/>
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<geom type="box" class="domino"/>
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</body>
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</replicate>
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</frame>
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</replicate>
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<!-- two more U turns for the outside rows -->
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<replicate offset="0 1.5 0" count="2">
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<frame pos="-.1 -.75 0" euler="0 0 180">
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<replicate count="5" euler="0 0 45">
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<body pos="0 -.23 .089">
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<freejoint/>
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<geom type="box" class="domino"/>
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</body>
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</replicate>
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</frame>
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</replicate>
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</worldbody>
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<visual>
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<global elevation="-25" azimuth="60"/>
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</visual>
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<statistic center="1.2 0 0"/>
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</mujoco>
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