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v0.1.15; add stairs_up/down

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wty-yy
2025-12-25 18:15:48 +08:00
parent 0dd3c10aba
commit 9d9d83ed9f
54 changed files with 1356 additions and 81 deletions
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51
resources/terrains/stairs_down/stairs_down_3.xml Normal file
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<mujoco model="stairs_down_3">
<!-- Terrain Type: stairs_down, Level: 3, Stairs step height: 0.1400 -->
<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 4.550000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.46499999999999997 0.0 4.410000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.7749999999999999 0.0 4.270000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.085 0.0 4.130000000000002" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.395 0.0 3.9900000000000015" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.705 0.0 3.8500000000000014" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.015 0.0 3.7100000000000013" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.325 0.0 3.570000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.6350000000000002 0.0 3.430000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.9450000000000003 0.0 3.290000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.2550000000000003 0.0 3.150000000000001" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5650000000000004 0.0 3.0100000000000007" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.8750000000000004 0.0 2.8700000000000006" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.805 0.0 2.45" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.114999999999999 0.0 2.31" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.424999999999999 0.0 2.17" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.7349999999999985 0.0 2.03" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.044999999999998 0.0 1.8899999999999997" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.664999999999997 0.0 1.6099999999999994" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.974999999999997 0.0 1.4699999999999993" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.594999999999996 0.0 1.189999999999999" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.904999999999996 0.0 1.049999999999999" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.214999999999996 0.0 0.9099999999999989" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.524999999999997 0.0 0.7699999999999989" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.834999999999997 0.0 0.6299999999999989" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.144999999999998 0.0 0.4899999999999989" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.454999999999998 0.0 0.34999999999999887" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.764999999999999 0.0 0.20999999999999885" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
<geom pos="10.075 0.0 0.06999999999999884" type="box" size="0.186 5.0 0.07" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>