48 lines
1.9 KiB
XML
48 lines
1.9 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
-->
|
|
|
|
<mujoco model="100 Humanoids">
|
|
<option timestep="0.005"/>
|
|
|
|
<size memory="100M"/>
|
|
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
|
<texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
|
<material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
|
<model name="humanoid" file="humanoid.xml"/>
|
|
</asset>
|
|
|
|
<visual>
|
|
<map force="0.1" zfar="30"/>
|
|
<rgba haze="0.15 0.25 0.35 1"/>
|
|
<quality numslices="16" numstacks="8"/>
|
|
<global offwidth="800" offheight="800"/>
|
|
</visual>
|
|
|
|
<worldbody>
|
|
<geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
|
|
<light directional="true" diffuse=".9 .9 .9" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="true"/>
|
|
<light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
|
|
<replicate count="10" euler="0 0 36" sep="-">
|
|
<frame pos="1.2 0 0">
|
|
<replicate count="10" euler="0 0 17" sep="-" offset="0.6 0 0">
|
|
<attach model="humanoid" body="torso" prefix="_"/>
|
|
</replicate>
|
|
</frame>
|
|
</replicate>
|
|
</worldbody>
|
|
</mujoco>
|