Saran Tunyasuvunakool
43 lines
1.3 KiB
XML
43 lines
1.3 KiB
XML
<mujoco model="example">
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<compiler coordinate="global"/>
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<default>
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<geom rgba=".8 .6 .4 1"/>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
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</asset>
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<worldbody>
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<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
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<body>
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<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
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<joint type="ball" pos="0 0 1"/>
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<body>
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<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
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<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
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<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
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<body>
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<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
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<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
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<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
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<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
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</body>
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</body>
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</body>
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<body>
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<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
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<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
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<joint type="free"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 0.6" width="0.005">
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<site site="end1"/>
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<site site="end2"/>
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</spatial>
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</tendon>
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</mujoco>
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