52 lines
4.5 KiB
XML
52 lines
4.5 KiB
XML
<mujoco model="stairs_down_6">
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<!-- Terrain Type: stairs_down, Level: 6, Stairs step height: 0.1900 -->
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<statistic center="0 0 0.1" extent="0.8" />
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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<rgba haze="0.15 0.25 0.35 1" />
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<global azimuth="-130" elevation="-20" />
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
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<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" />
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.0" />
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</asset>
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<worldbody>
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<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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<geom pos="0.155 0.0 6.175" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="0.46499999999999997 0.0 5.984999999999999" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="0.7749999999999999 0.0 5.794999999999999" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.085 0.0 5.604999999999999" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.395 0.0 5.414999999999998" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.705 0.0 5.224999999999998" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.015 0.0 5.0349999999999975" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.325 0.0 4.844999999999997" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.6350000000000002 0.0 4.654999999999997" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.9450000000000003 0.0 4.464999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.2550000000000003 0.0 4.274999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.5650000000000004 0.0 4.0849999999999955" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.8750000000000004 0.0 3.8949999999999956" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.1850000000000005 0.0 3.7049999999999956" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.495 0.0 3.5149999999999957" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.805 0.0 3.3249999999999957" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="5.114999999999999 0.0 3.134999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="5.424999999999999 0.0 2.944999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="5.7349999999999985 0.0 2.754999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.044999999999998 0.0 2.564999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.354999999999998 0.0 2.374999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.664999999999997 0.0 2.184999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.974999999999997 0.0 1.994999999999996" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.284999999999997 0.0 1.8049999999999962" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.594999999999996 0.0 1.6149999999999962" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.904999999999996 0.0 1.4249999999999963" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="8.214999999999996 0.0 1.2349999999999963" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="8.524999999999997 0.0 1.0449999999999964" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="8.834999999999997 0.0 0.8549999999999964" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.144999999999998 0.0 0.6649999999999965" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.454999999999998 0.0 0.4749999999999965" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.764999999999999 0.0 0.2849999999999965" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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<geom pos="10.075 0.0 0.09499999999999648" type="box" size="0.186 5.0 0.095" quat="1.0 0.0 0.0 0.0" />
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</worldbody>
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</mujoco>
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