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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_up/stairs_up_1.xml Normal file
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<mujoco model="stairs_up_1">
<!-- Terrain Type: stairs_up, Level: 1, Stairs step height: 0.0800 -->
<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 0.04" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.46499999999999997 0.0 0.12" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="0.7749999999999999 0.0 0.2" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.085 0.0 0.28" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.395 0.0 0.36000000000000004" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="1.705 0.0 0.44000000000000006" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.015 0.0 0.52" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.325 0.0 0.6" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="2.6350000000000002 0.0 0.6799999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.2550000000000003 0.0 0.8399999999999999" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.5650000000000004 0.0 0.9199999999999998" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="3.8750000000000004 0.0 0.9999999999999998" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="4.1850000000000005 0.0 1.0799999999999998" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.805 0.0 1.24" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.114999999999999 0.0 1.32" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.424999999999999 0.0 1.4000000000000001" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="5.7349999999999985 0.0 1.4800000000000002" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.664999999999997 0.0 1.7200000000000004" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="6.974999999999997 0.0 1.8000000000000005" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.594999999999996 0.0 1.9600000000000006" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="7.904999999999996 0.0 2.0400000000000005" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.214999999999996 0.0 2.1200000000000006" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.524999999999997 0.0 2.2000000000000006" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="8.834999999999997 0.0 2.2800000000000007" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.144999999999998 0.0 2.3600000000000008" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.454999999999998 0.0 2.440000000000001" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="9.764999999999999 0.0 2.520000000000001" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
<geom pos="10.075 0.0 2.600000000000001" type="box" size="0.186 5.0 0.04" quat="1.0 0.0 0.0 0.0" />
</worldbody>
</mujoco>