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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.
- -->
- <option timestep="0.005"/>
- <size memory="100M"/>
- <default>
- <geom solimp=".9 .9 .01"/>
- <default class="capsule">
- <geom type="capsule" material="capsule" size="0.1 0.05"/>
- </default>
- <default class="ellipsoid">
- <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
- </default>
- <default class="box">
- <geom type="box" material="box" size="0.15 0.1 0.05"/>
- </default>
- <default class="cylinder">
- <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
- </default>
- <default class="sphere">
- <geom type="sphere" material="sphere" 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>
- <model file="humanoid.xml"/>
- <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="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
- <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
- <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
- <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
- <material name="sphere" 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>
- <attach model="Humanoid" body="torso" prefix="humanoid_"/>
- <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
- <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
- <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"/>
- <geom class="borderpost" pos="-3 -3 0"/>
- <frame pos="-2 -2 2.5">
- <replicate count="5" offset="0 1 0" euler="0 180 0">
- <frame pos="0 0 -1.5">
- <replicate count="4" offset="0 0 1" euler="0 0 60">
- <body euler="30 40 0">
- <freejoint/>
- <geom class="capsule"/>
- </body>
- </replicate>
- </frame>
- </replicate>
- </frame>
- <frame pos="-1 -2 2.5">
- <replicate count="5" offset="0 1 0" euler="0 180 0">
- <frame pos="0 0 -1.5">
- <replicate count="4" offset="0 0 1" euler="0 0 60">
- <body euler="20 40 60">
- <freejoint/>
- <geom class="ellipsoid"/>
- </body>
- </replicate>
- </frame>
- </replicate>
- </frame>
- <frame pos="0 -2 3.5">
- <replicate count="5" offset="0 1 0" euler="0 180 0">
- <frame pos="0 0 -1.5">
- <replicate count="4" offset="0 0 1" euler="0 0 60">
- <body euler="30 70 110">
- <freejoint/>
- <geom class="box"/>
- </body>
- </replicate>
- </frame>
- </replicate>
- </frame>
- <frame pos="1 -2 2.5">
- <replicate count="5" offset="0 1 0" euler="0 180 0">
- <frame pos="0 0 -1.5">
- <replicate count="4" offset="0 0 1" euler="0 0 60">
- <body euler="60 30 0">
- <freejoint/>
- <geom class="cylinder"/>
- </body>
- </replicate>
- </frame>
- </replicate>
- </frame>
- <frame pos="2 -2 2.5">
- <replicate count="5" offset="0 1 0">
- <frame pos="0 0 -1.5">
- <replicate count="4" offset="0 0 1">
- <body>
- <freejoint/>
- <geom class="sphere"/>
- </body>
- </replicate>
- </frame>
- </replicate>
- </frame>
- </worldbody>
- </mujoco>
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