| <mujoco model="Mixed convex objects"> | |
| <statistic extent="1.5" meansize=".05"/> | |
| <visual> | |
| <rgba haze="0.15 0.25 0.35 1"/> | |
| <map shadowscale="0.5" zfar="40" force="0.01"/> | |
| </visual> | |
| <asset> | |
| <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="64" height="64"/> | |
| <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"/> | |
| <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/> | |
| <mesh name="icosahedron" scale=".05 .05 .05" | |
| vertex="0 1 1.618 | |
| 0 -1 1.618 | |
| 0 1 -1.618 | |
| 0 -1 -1.618 | |
| 1 1.618 0 | |
| -1 1.618 0 | |
| 1 -1.618 0 | |
| -1 -1.618 0 | |
| 1.618 0 1 | |
| 1.618 0 -1 | |
| -1.618 0 1 | |
| -1.618 0 -1"/> | |
| <mesh name="meshbox" scale=".05 .05 .05" | |
| vertex="-1 -1 -1 | |
| 1 -1 -1 | |
| 1 1 -1 | |
| 1 1 1 | |
| 1 -1 1 | |
| -1 1 -1 | |
| -1 1 1 | |
| -1 -1 1"/> | |
| <hfield name="hfield" nrow="5" ncol="5" size=".53 .53 .03 .03" | |
| elevation="1 0 1 0 1 | |
| 0 2 0 2 0 | |
| 1 0 1 0 1 | |
| 0 2 0 2 0 | |
| 1 0 1 0 1"/> | |
| </asset> | |
| <default> | |
| <geom condim="1" solref="2e-3 1" size=".05 .15 .07"/> | |
| </default> | |
| <option timestep="1e-3" solver="CG" iterations="20"/> | |
| <worldbody> | |
| <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" castshadow="false"/> | |
| <light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4"/> | |
| <geom type="hfield" hfield="hfield" rgba=".5 .5 .5 .2"/> | |
| <replicate count="4" euler="0 0 90"> | |
| <geom type="hfield" hfield="hfield" zaxis="1 0 0" pos="-.5 0 .5" rgba=".5 .5 .5 .2"/> | |
| </replicate> | |
| <replicate count="15" euler="0 0 60" offset="0 0 .15"> | |
| <body pos="-.3 -.3 .3" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="ellipsoid"/> | |
| </body> | |
| </replicate> | |
| <replicate count="15" euler="0 0 60" offset="0 0 .15"> | |
| <body pos="-.3 -.3 1" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="box"/> | |
| </body> | |
| </replicate> | |
| <replicate count="15" euler="0 0 60" offset="0 0 .15"> | |
| <body pos="-.3 -.3 .6" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="capsule"/> | |
| </body> | |
| </replicate> | |
| <replicate count="15" euler="0 0 60" offset="0 0 .15"> | |
| <body pos="-.3 .3 .3" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="cylinder"/> | |
| </body> | |
| </replicate> | |
| <replicate count="20" euler="0 0 60" offset="0 0 .15"> | |
| <body pos="-.15 .15 .3" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="mesh" mesh="icosahedron"/> | |
| </body> | |
| </replicate> | |
| <replicate count="20" euler="0 0 60" offset="0 0 .15"> | |
| <body pos=".15 -.15 .3" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="mesh" mesh="meshbox"/> | |
| </body> | |
| </replicate> | |
| <replicate count="15" euler="0 0 60" offset="0 0 .15"> | |
| <body pos=".05 0 .3" euler="10 20 30"> | |
| <freejoint/> | |
| <geom type="sphere"/> | |
| </body> | |
| </replicate> | |
| </worldbody> | |
| </mujoco> | |