Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419
2021-10-18 12:23:02 +01:00
commit 1f7eaae62e
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+<!-- 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>
+
+    <statistic extent="2" meansize=".05"/>
+
+    <option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/>
+
+    <visual>
+        <rgba haze="0.15 0.25 0.35 1"/>
+        <quality shadowsize="2048"/>
+        <map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
+    </visual>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
+            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+        <texture name="texcarpet" type="2d" file="carpet.png"/>
+        <texture name="texsponge" type="2d" file="sponge.png"/>
+        <texture name="texmarble" type="cube" file="marble.png"/>
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+        <material name="matcarpet" texture="texcarpet"/>
+        <material name="matsponge" texture="texsponge" specular="0.3"/>
+        <material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
+    </asset>
+
+    <worldbody>
+        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
+        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
+
+        <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
+
+        <body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
+            <geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
+        </body>
+    </worldbody>
+</mujoco>