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v1.0.0

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wty-yy
2025-12-29 23:41:09 +08:00
parent c28bb64b0a
commit 587d014683
44 changed files with 196 additions and 714 deletions
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resources/terrains/stairs/stairs_2.xml Normal file
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<mujoco model="stairs_2">
<!-- Terrain Type: stairs, Level: 2, Stairs step height: 0.1100 -->
<statistic center="0 0 0.1" extent="0.8" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="-130" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
<geom pos="0.155 0.0 0.055" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.46499999999999997 0.0 0.165" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.7749999999999999 0.0 0.275" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.085 0.0 0.385" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.395 0.0 0.495" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.705 0.0 0.605" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.015 0.0 0.715" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.325 0.0 0.825" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.6350000000000002 0.0 0.9349999999999999" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.9450000000000003 0.0 1.045" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.2550000000000003 0.0 1.155" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5650000000000004 0.0 1.2650000000000001" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.8750000000000004 0.0 1.3750000000000002" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.1850000000000005 0.0 1.4850000000000003" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.495 0.0 1.5950000000000004" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.805 0.0 1.7050000000000005" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.114999999999999 0.0 1.8150000000000006" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.424999999999999 0.0 1.9250000000000007" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.7349999999999985 0.0 2.0350000000000006" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.044999999999998 0.0 2.1450000000000005" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.354999999999998 0.0 2.2550000000000003" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.664999999999997 0.0 2.365" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.974999999999997 0.0 2.475" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.284999999999997 0.0 2.585" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.594999999999996 0.0 2.695" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.904999999999996 0.0 2.8049999999999997" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.214999999999996 0.0 2.9149999999999996" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.524999999999997 0.0 3.0249999999999995" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.834999999999997 0.0 3.1349999999999993" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.144999999999998 0.0 3.244999999999999" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.454999999999998 0.0 3.354999999999999" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.764999999999999 0.0 3.464999999999999" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
<geom pos="10.075 0.0 3.574999999999999" type="box" size="0.186 5.0 0.055" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>