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Mujoco_WASM/model/humanoid100/humanoid100.xml
T
Tom Erez 6de9eafa13 Initial release of the Unity plugin. 
PiperOrigin-RevId: 425947505
2022-02-02 20:44:39 +00:00

514 lines
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Humanoid and 100 objects">
<!-- Degree of Freedom: 627
Actuators: 21
Humanoid and 100 free primitive objects.
-->
<include file="humanoid_body.xml"/>
<option timestep="0.005"/>
<size nconmax="500" njmax="1500" nstack="5000000"/>
<default>
<geom solimp=".9 .9 .01"/>
<default class="object1">
<geom type="capsule" material="object1" size="0.1 0.05"/>
</default>
<default class="object2">
<geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
</default>
<default class="object3">
<geom type="box" material="object3" size="0.15 0.1 0.05"/>
</default>
<default class="object4">
<geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
</default>
<default class="object5">
<geom type="sphere" material="object5" size="0.1"/>
</default>
<default class="border">
<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
</default>
<default class="borderpost">
<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
<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"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6"
width="512" height="512"/>
<material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"
rgba=".7 .7 .7 1"/>
<material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
<material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
<material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
<material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
<material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
</asset>
<visual>
<quality shadowsize="4096" offsamples="8"/>
<map znear="0.1" force="0.05"/>
</visual>
<statistic extent="4"/>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
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<geom class="border" fromto="-3 3 0 3 3 0" />
<geom class="border" fromto="-3 -3 0 3 -3 0" />
<geom class="border" fromto="3 3 0 3 -3 0" />
<geom class="border" fromto="-3 3 0 -3 -3 0" />
<geom class="borderpost" pos="3 3 0"/>
<geom class="borderpost" pos="-3 3 0"/>
<geom class="borderpost" pos="3 -3 0"/>
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