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Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.

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Closes #2
Closes #42
Closes #59

PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
2021-12-16 14:36:53 +00:00
parent 4bf5630558
commit a499b38120
49 changed files with 6055 additions and 5712 deletions
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model/composite/scene.xml
+28 -28
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@@ -14,39 +14,39 @@
-->
<mujoco>
<compiler meshdir="asset" texturedir="asset"/>
<statistic extent="1.5" meansize=".05"/>
<statistic extent="2" meansize=".05"/>
<option timestep="0.005" jacobian="sparse"/>
<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="4096"/>
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
</visual>
<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"/>
<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>
<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"/>
<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"/>
<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>
<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>