51 lines
2.9 KiB
XML
51 lines
2.9 KiB
XML
<mujoco model="barkour scene with obstacles">
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<include file="barkour_v0.xml"/>
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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="120" elevation="-20"/>
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</visual>
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<asset>
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<mesh file="30degree_aframe__1default.stl"/>
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<mesh file="aframe_side__1default.stl"/>
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<mesh file="aframe_side__2default.stl"/>
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<mesh file="cone1__1default.stl"/>
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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="floor" builtin="checker" mark="edge" rgb1="0.8203125 0.88671875 0.984375" rgb2="0.6796875 0.79296875 0.9765625"
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markrgb="0 0 0" width="1000" height="1000"/>
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<material name="floor" texture="floor" texuniform="true" texrepeat="2 2" reflectance="0.2"/>
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<texture type="2d" name="broadjump" file="broadjump_texture.png"/>
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<material name="broadjump" texture="broadjump" texuniform="true" texrepeat="1 4" reflectance="0.2"/>
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</asset>
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<worldbody>
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<camera name="default" pos="-1.947 -0.590 5.008" xyaxes="-0.351 -0.936 -0.000 0.728 -0.273 0.628"/>
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<geom pos="2.5 -2.5 -0.005" type="box" material="floor" size="2.5 2.5 0.005"/>
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<!-- start table -->
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<geom pos="0.5 -0.5 0.05" type="box" rgba="0.76953125 0.1328125 0.12109375 1" size="0.5 0.5 0.05"/>
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<!-- weave poles -->
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<geom pos="1.7 -0.7 0.02" quat="0 0 -1 0" type="mesh" rgba="0.9453125 0.59765625 0 1" mesh="cone1__1default"/>
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<geom pos="2.5 -0.5 0.02" quat="0 0 -1 0" type="mesh" rgba="0.203125 0.65625 0.32421875 1" mesh="cone1__1default"/>
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<geom pos="3.2 -0.7 0.02" quat="0 0 -1 0" type="mesh" rgba="0.9453125 0.59765625 0 1" mesh="cone1__1default"/>
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<geom pos="3.8 -0.5 0.02" quat="0 0 -1 0" type="mesh" rgba="0.203125 0.65625 0.32421875 1" mesh="cone1__1default"/>
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<geom pos="4.3 -0.7 0.02" quat="0 0 -1 0" type="mesh" rgba="0.9453125 0.59765625 0 1" mesh="cone1__1default"/>
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<!-- A-frame -->
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<body pos="2.5 -2.5 0" quat="1.0 0 0 -1.0">
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<geom pos="0.3871 0.377082 0" quat="0.62721 0.627213 -0.326506 -0.326505" type="mesh" rgba="0.203125 0.65625 0.32421875 1" mesh="30degree_aframe__1default"/>
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<geom pos="0.3871 0.377082 0" quat="0.62721 0.627213 -0.326506 -0.326505" type="mesh" rgba="0.9921875 0.93359375 0.76171875 0.2" mesh="aframe_side__1default"/>
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<geom pos="1.20216 0.94779 0" quat="0.62721 0.627213 -0.326506 -0.326505" type="mesh" rgba="0.9921875 0.93359375 0.76171875 0.2" mesh="aframe_side__2default"/>
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</body>
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<!-- broad jump table -->
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<geom pos="2.75 -4.5 0.0005" type="box" material="broadjump" size="0.5 0.25 0.0005" quat="1.0 0 0 -1.0"/>
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<!-- end table -->
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<geom pos="4.5 -4.5 0.05" type="box" rgba="0.98828125 0.8359375 0.38671875 1" size="0.5 0.5 0.05"/>
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</worldbody>
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<keyframe>
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<key name="start" qpos="0.5 -0.5 0.3 1 0 0 0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0"
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ctrl="0 0.5 1.0 0 0.5 1.0 0 0.5 1.0 0 0.5 1.0"/>
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</keyframe>
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</mujoco>
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