Alessio Quaglino
89f4789085
PiperOrigin-RevId: 788538127 Change-Id: I999733399a1a0da07b0f915f34d31364ab8b3b52
46 lines
1.5 KiB
XML
46 lines
1.5 KiB
XML
<mujoco model="Collide spherical meshes">
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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"/>
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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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</asset>
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<default>
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<geom condim="1" solref="2e-3 1"/>
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</default>
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<option timestep="1e-3" solver="CG" iterations="20"/>
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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 name="ground" type="plane" size=".5 .5 .01" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
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<replicate count="4" euler="0 0 90">
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<geom type="plane" size=".1 .5 .01" zaxis="1 0 0" pos="-.5 0 .1"/>
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</replicate>
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<replicate count="5" offset=".16 0 0">
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<replicate count="5" offset="0 .16 0">
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<replicate count="4" offset="0 0 .3">
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<body pos="-.3 -.3 .3" euler="10 20 30">
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<freejoint/>
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<geom type="mesh" mesh="sphere"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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</worldbody>
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<asset>
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<mesh name="sphere" builtin="wedge" params="25 25 180 90 0" scale=".08 .08 .08"/>
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</asset>
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</mujoco>
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