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<mujoco model="2 Humanoids and 100 objects">
<!--
Model designed for a maximally-elaborate island structure.
More horizontal gravity leads to larger, fewer islands.
-->
<option timestep="0.005" solver="CG" gravity="-1 -1 -10">
<flag island="enable"/>
</option>
<size memory="100M"/>
<default>
<geom solimp=".9 .9 .01"/>
<default class="capsule">
<geom type="capsule" material="capsule" size="0.1 0.05"/>
</default>
<default class="ellipsoid">
<geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
</default>
<default class="box">
<geom type="box" material="box" size="0.15 0.1 0.05"/>
</default>
<default class="cylinder">
<geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
</default>
<default class="sphere">
<geom type="sphere" material="sphere" size="0.1"/>
</default>
<default class="border">
<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
</default>
<default class="borderpost">
<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
</default>
</default>
<asset>
<model file="humanoid.xml"/>
<texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
<material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
<material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
<material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
<material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
<material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
<material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
</asset>
<visual>
<quality shadowsize="4096" offsamples="8"/>
<map znear="0.1" force="0.05"/>
</visual>
<statistic extent="4"/>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
<geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
<geom class="border" fromto="-3 3 0 3 3 0"/>
<geom class="border" fromto="-3 -3 0 3 -3 0"/>
<geom class="border" fromto="3 3 0 3 -3 0"/>
<geom class="border" fromto="-3 3 0 -3 -3 0"/>
<geom class="borderpost" pos="3 3 0"/>
<geom class="borderpost" pos="-3 3 0"/>
<geom class="borderpost" pos="3 -3 0"/>
<geom class="borderpost" pos="-3 -3 0"/>
<replicate count="4" euler="0 0 90">
<geom type="plane" size=".5 3 .05" zaxis="1 0 0" pos="-3 0 0.4"/>
</replicate>
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="30 40 0">
<freejoint/>
<geom class="capsule"/>
</body>
</replicate>
<attach model="Humanoid" body="torso" prefix="1_"/>
<frame euler="0 0 72">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="20 40 60">
<freejoint/>
<geom class="ellipsoid"/>
</body>
</replicate>
</frame>
<frame euler="0 0 144">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="30 70 110">
<freejoint/>
<geom class="box"/>
</body>
</replicate>
</frame>
<frame pos="1 1 0" euler="0 0 144">
<attach model="Humanoid" body="torso" prefix="2_"/>
</frame>
<frame euler="0 0 216">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="60 30 0">
<freejoint/>
<geom class="cylinder"/>
</body>
</replicate>
</frame>
<frame euler="0 0 288">
<replicate count="20" offset="0 0 0.2" euler="0 0 20">
<body pos="-2 0 0.5" euler="60 30 0">
<freejoint/>
<geom class="sphere"/>
</body>
</replicate>
</frame>
</worldbody>
</mujoco>
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"<!-- Copyright 2021 DeepMind Technologies Limited\n\n Licensed under the Apache License, Versio(...TRUNCATED)
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"<mujoco model=\"Humanoid\">\n <option timestep=\"0.005\"/>\n\n <visual>\n <map force=\"0.1\" z(...TRUNCATED)
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"<!-- Copyright 2023 DeepMind Technologies Limited\n\n Licensed under the Apache License, Versio(...TRUNCATED)
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"<!-- Copyright 2023 DeepMind Technologies Limited\n Licensed under the Apache License, Version (...TRUNCATED)
|
"<mujoco model=\"Benchmark inertia test model\">\n <option timestep=\"0.005\"/>\n\n <visual>\n (...TRUNCATED)
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"<mujoco>\n <compiler autolimits=\"true\"/>\n\n <option density=\"1000\" timestep=\"0.05\" integra(...TRUNCATED)
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"<mujoco>\n <compiler autolimits=\"true\"/>\n <option density=\"1000\"/>\n\n <worldbody>\n <ge(...TRUNCATED)
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"<mujoco>\n <visual>\n <global elevation=\"-10\"/>\n </visual>\n\n <compiler angle=\"radian\"/(...TRUNCATED)
|
"<mujoco>\n <compiler autolimits=\"true\"/>\n\n <option integrator=\"implicitfast\"/>\n\n <worldb(...TRUNCATED)
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