| <mujoco> | |
| <statistic extent="1.5" meansize=".05"/> | |
| <option solver="CG" tolerance="1e-6"/> | |
| <size memory="5M"/> | |
| <visual> | |
| <rgba haze="0.15 0.25 0.35 1"/> | |
| <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/> | |
| </visual> | |
| <asset> | |
| <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/> | |
| <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"/> | |
| </asset> | |
| <default> | |
| <geom solref=".005 1"/> | |
| <default class="wall"> | |
| <geom type="plane" size=".5 .5 .05"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/> | |
| <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/> | |
| <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/> | |
| <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1"> | |
| <geom type="capsule" size=".1 .1" group="1" condim="1"/> | |
| </body> | |
| <geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/> | |
| <geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/> | |
| <geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/> | |
| <geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/> | |
| <replicate count="3" offset=".2 0 0"> | |
| <replicate count="3" offset="0 .2 0"> | |
| <replicate count="2" offset="0 0 .2"> | |
| <body pos="-.2 -.2 1"> | |
| <freejoint/> | |
| <geom type="sphere" size=".09" rgba=".8 .2 .1 1" condim="3"/> | |
| </body> | |
| </replicate> | |
| </replicate> | |
| </replicate> | |
| <replicate count="3" offset=".2 0 0" prefix="A"> | |
| <replicate count="3" offset="0 .2 0"> | |
| <replicate count="2" offset="0 0 .2"> | |
| <body pos="-.2 -.2 1.6"> | |
| <freejoint/> | |
| <geom type="cylinder" size=".09 .02" rgba=".8 .2 .1 1" condim="3"/> | |
| </body> | |
| </replicate> | |
| </replicate> | |
| </replicate> | |
| <replicate count="3" offset=".2 0 0" prefix="B"> | |
| <replicate count="3" offset="0 .2 0"> | |
| <replicate count="2" offset="0 0 .2"> | |
| <body pos="-.2 -.2 2.2"> | |
| <freejoint/> | |
| <geom type="cylinder" size=".02 .09" rgba=".8 .2 .1 1" condim="3"/> | |
| </body> | |
| </replicate> | |
| </replicate> | |
| </replicate> | |
| <replicate count="3" offset=".2 0 0" prefix="C"> | |
| <replicate count="3" offset="0 .2 0"> | |
| <replicate count="2" offset="0 0 .2"> | |
| <body pos="-.2 -.2 2.8"> | |
| <freejoint/> | |
| <geom type="sphere" size=".06" rgba=".8 .2 .1 1" condim="3"/> | |
| </body> | |
| </replicate> | |
| </replicate> | |
| </replicate> | |
| </worldbody> | |
| </mujoco> | |