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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_5.xml Normal file
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<mujoco model="stairs_down_5">
<!-- Terrain Type: stairs_down, Level: 5, Stairs step height: 0.1800 -->
<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 5.8500000000000005" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.705 0.0 4.950000000000002" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.015 0.0 4.770000000000002" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.2550000000000003 0.0 4.050000000000003" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5650000000000004 0.0 3.870000000000003" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.044999999999998 0.0 2.430000000000002" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.904999999999996 0.0 1.3500000000000019" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.214999999999996 0.0 1.170000000000002" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.524999999999997 0.0 0.9900000000000019" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.834999999999997 0.0 0.8100000000000018" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.144999999999998 0.0 0.6300000000000018" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.454999999999998 0.0 0.45000000000000173" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.764999999999999 0.0 0.2700000000000017" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
<geom pos="10.075 0.0 0.09000000000000166" type="box" size="0.186 5.0 0.09000000000000001" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>