Datasets:

introvoyz041
/

mujoco

	<mujoco model="2 Humanoids and 100 objects">
	<!--
	Model designed for a maximally-elaborate island structure.
	More horizontal gravity leads to larger, fewer islands.
	-->
	<option timestep="0.005" solver="CG" gravity="-1 -1 -10">
	<flag island="enable"/>
	</option>

	<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>
	<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"/>

	<replicate count="4" euler="0 0 90">
	<geom type="plane" size=".5 3 .05" zaxis="1 0 0" pos="-3 0 0.4"/>
	</replicate>

	<replicate count="20" offset="0 0 0.2" euler="0 0 20">
	<body pos="-2 0 0.5" euler="30 40 0">
	<freejoint/>
	<geom class="capsule"/>
	</body>
	</replicate>

	<attach model="Humanoid" body="torso" prefix="1_"/>

	<frame euler="0 0 72">
	<replicate count="20" offset="0 0 0.2" euler="0 0 20">
	<body pos="-2 0 0.5" euler="20 40 60">
	<freejoint/>
	<geom class="ellipsoid"/>
	</body>
	</replicate>
	</frame>

	<frame euler="0 0 144">
	<replicate count="20" offset="0 0 0.2" euler="0 0 20">
	<body pos="-2 0 0.5" euler="30 70 110">
	<freejoint/>
	<geom class="box"/>
	</body>
	</replicate>
	</frame>

	<frame pos="1 1 0" euler="0 0 144">
	<attach model="Humanoid" body="torso" prefix="2_"/>
	</frame>

	<frame euler="0 0 216">
	<replicate count="20" offset="0 0 0.2" euler="0 0 20">
	<body pos="-2 0 0.5" euler="60 30 0">
	<freejoint/>
	<geom class="cylinder"/>
	</body>
	</replicate>
	</frame>

	<frame euler="0 0 288">
	<replicate count="20" offset="0 0 0.2" euler="0 0 20">
	<body pos="-2 0 0.5" euler="60 30 0">
	<freejoint/>
	<geom class="sphere"/>
	</body>
	</replicate>
	</frame>

	</worldbody>
	</mujoco>