datetime:2025/12/28 12:25
author:nzb
该项目来源于mujoco_learning
default
默认参数，可以赋给实际应用的各种对应实体属性参数，使用 class指定，类似于 CSS中的 class。
<mujoco>
<asset>
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1" />
<texture type="skybox" file="../asset/desert.png"
gridsize="3 4" gridlayout=".U..LFRB.D.." />
<texture name="plane" type="2d" builtin="checker" rgb1=".1 .1 .1" rgb2=".9 .9 .9"
width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true" />
<texture name="y2c" type="cube" builtin="gradient" rgb1="1 1 0" rgb2="0 1 1"
width="512" height="512" />
<material name="y2c" reflectance="0.3" texture="y2c" texrepeat="1 1" texuniform="true" />
<texture name="r2b" type="cube" builtin="gradient" rgb1="1 0 0" rgb2="0 0 1"
width="512" height="512" />
<material name="r2b" reflectance="0.3" texture="r2b" texrepeat="1 1" texuniform="true" />
</asset>
<default>
<default class="collision_box">
<geom type="box" size="0.1 0.1 0.1" contype="1" conaffinity="1" material="y2c" />
</default>
<default class="visual_box">
<geom type="box" size="0.1 0.1 0.1" contype="0" conaffinity="0" material="r2b" />
</default>
<default class="collision">
<geom contype="1" conaffinity="1" material="y2c" />
</default>
<default class="visual">
<geom contype="0" conaffinity="0" material="r2b" />
</default>
</default>
<worldbody>
<geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="plane"
condim="3" />
<light directional="true" ambient=".3 .3 .3" pos="30 30 30" dir="0 -.5 -1"
diffuse=".5 .5 .5" specular=".5 .5 .5" />
<body pos="0 0 1">
<freejoint/>
<geom pos="0 0 0.2" class="visual_box" />
<geom class="collision_box" />
</body>
<body pos="0 1 1">
<freejoint/>
<geom type="sphere" size=".1" pos="0 0 0.2" class="visual" />
<geom type="cylinder" size=".1 .1 .1" class="collision" />
</body>
</worldbody>
</mujoco>