LinkNexus/huoyi_deploy
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huangweifeng
2026-10-22 09:23:54 +08:00
commit 63f557a39f
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M20_description/m20_mjcf/mjcf/stair.xml
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<?xml version="1.0" encoding="UTF-8" ?>
<mujoco model="stair_terrain">
<option gravity="0 0 -9.81" />
<worldbody>
<!-- <geom name="floor" type="plane" pos="0 0 0" size="15 15 0.1" rgba="0.8 0.9 0.8 1"/> -->
<!-- stair -->
<body name="staircase" pos="0.8 0 0">
<geom name="stair1" type="box" pos="0.5 0 0.05" size="0.15 3.0 0.05" rgba="0.5 0.5 0.5 1"/>
<geom name="stair2" type="box" pos="0.8 0 0.15" size="0.15 3.0 0.05" rgba="0.5 0.5 0.5 1"/>
<geom name="stair3" type="box" pos="1.1 0 0.25" size="0.15 3.0 0.05" rgba="0.5 0.5 0.5 1"/>
<geom name="stair4" type="box" pos="1.4 0 0.35" size="0.15 3.0 0.05" rgba="0.5 0.5 0.5 1"/>
<geom name="stair5" type="box" pos="1.7 0 0.45" size="0.15 3.0 0.05" rgba="0.5 0.5 0.5 1"/>
<geom name="stair6" type="box" pos="4.35 0 0.55" size="2.5 3.0 0.05" rgba="0.5 0.5 0.5 1"/>
</body>
</worldbody>
</mujoco>