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锥桶自定义更新

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cyy_mac
2026-06-16 22:45:15 +08:00
parent 0b41844e72
commit cf94fc566b
6 changed files with 201 additions and 26 deletions
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25
scene.xml
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@@ -54,29 +54,8 @@
material="map_mat" friction="0.6 0.1 0.1" condim="3"/>
<!-- 40cm white fence around the map -->
<!-- ===== Blue cone obstacles ===== -->
<!-- Square base 20x20x3cm + cone taper 20cm→2cm over 27cm, total H=30cm -->
<!-- White reflective strip at 2/3 height (z=20cm) -->
<body name="cone_1" pos=" 1.0 1.0 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<body name="cone_2" pos="-1.0 0.5 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<body name="cone_3" pos=" 0.0 -1.5 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<body name="cone_4" pos=" 1.5 -1.0 0.0">
<geom type="box" size="0.10 0.10 0.015" pos="0 0 0.015" class="cone_blue"/>
<geom type="mesh" mesh="cone_mesh" pos="0 0 0.03" class="cone_blue"/>
<geom type="mesh" mesh="cone_white_mesh" pos="0 0 0.15" rgba="1 1 1 1"/>
</body>
<!-- ===== Blue cone obstacles (auto-generated from cones.json) ===== -->
<!-- CONES -->
<geom name="fence_n" type="box" size="2.5 0.02 0.2" pos="0 2.5 0.2" rgba="1 1 1 1"/>
<geom name="fence_s" type="box" size="2.5 0.02 0.2" pos="0 -2.5 0.2" rgba="1 1 1 1"/>