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maze.xml
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maze.xml
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<mujoco model="maze">
<!--<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>-->
<worldbody>
<!--ベース板-->
<body name="base_plate" pos="0.18 0.27 0.006">
<geom type="box" mass="0.1" size="0.321 0.321 0.006" rgba="0.2 0.2 0.2 1" friction="0.0 0.0 0.0"/>
</body>
<!--第1辺-->
<body name="wall1" pos="0 0 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall2" pos="0.18 0 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall3" pos="0.36 0 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--第2辺-->
<body name="wall4" pos="0.45 0.09 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall5" pos="0.45 0.27 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall6" pos="0.45 0.45 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--第3辺-->
<body name="wall7" pos="-0.090 0.09 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall8" pos="-0.090 0.27 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall9" pos="-0.090 0.45 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--第4辺-->
<body name="wall10" pos="0 0.54 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall11" pos="0.18 0.54 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall12" pos="0.36 0.54 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall13" pos="0.09 0.09 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall14" pos="0.27 0.45 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall15" pos="0.18 0.36 0.037" euler="0 0 0">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<body name="wall16" pos="0.27 0.27 0.037" euler="0 0 90">
<!--<joint type="free" />-->
<body pos="0 0 -0.0005">
<geom type="box" mass="0.1" size="0.084 0.006 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.001" size="0.084 0.006 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--柱1-->
<body pos="-0.09 0 0.037">
<body pos="0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.002 0.002 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.002 0.002 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--柱2-->
<body pos="0.09 0 0.037">
<body pos="0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.002 0.002 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.002 0.002 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--柱3-->
<body pos="0.27 0 0.037">
<body pos="0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.002 0.002 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.002 0.002 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--柱4-->
<body pos="0.45 0 0.037">
<body pos="0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.002 0.002 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.002 0.002 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--柱5-->
<body pos="-0.09 0.18 0.037">
<body pos="0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="-0.003375 -0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
</body>
<body pos="0 0 -0.0005">
<geom type="box" mass="0.01" size="0.002 0.002 0.0245" rgba="1 1 1 1"/>
</body>
<!--柱上赤蓋-->
<body pos="0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="-0.003375 -0.003375 0.0245">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0005" rgba="1 0 0 1"/>
</body>
<body pos="0 0 0.0245">
<geom type="box" mass="0.01" size="0.002 0.002 0.0005" rgba="1 0 0 1"/>
</body>
</body>
<!--柱6-->
<body pos="0.09 0.18 0.037">
<body pos="0.003375 0.003375 -0.0005">
<geom type="box" mass="0.01" size="0.002375 0.002375 0.0245" rgba="1 1 1 1"/>
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<body pos="0.003375 -0.003375 -0.0005">
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