Yuval Tassa
769f37b653
PiperOrigin-RevId: 829361787 Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
41 lines
1014 B
XML
41 lines
1014 B
XML
<mujoco>
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<option>
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<flag sleep="enable"/>
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</option>
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<worldbody>
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<light pos="0 -1 4"/>
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<geom type="plane" size="1.5 1.5 .01" rgba=".5 .5 .5 .5"/>
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<body pos=".3 0 1" sleep="init">
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<freejoint/>
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<geom type="box" size=".1 .1 .1"/>
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<site name="1" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
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<site name="2" pos=".1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
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</body>
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<body pos="-.3 0 1" euler="10 20 30">
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<freejoint/>
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<geom type="box" size=".1 .1 .1"/>
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<site name="3" pos=".1 -.1 .1" size=".01" rgba="1 0 0 1"/>
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</body>
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<body pos=".7 0 1" sleep="init">
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<freejoint/>
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<geom type="box" size=".1 .1 .1"/>
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<site name="4" pos="-.1 -.1 -.1" size=".01" rgba="1 0 0 1"/>
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</body>
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</worldbody>
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<tendon>
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<spatial range="0 .6" width="0.01">
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<site site="1"/>
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<site site="3"/>
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</spatial>
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<spatial range="0 .6" width="0.01">
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<site site="2"/>
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<site site="4"/>
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</spatial>
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</tendon>
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</mujoco>
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