Alessio Quaglino
c52d1b3941
PiperOrigin-RevId: 730089997 Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
55 lines
1.7 KiB
XML
55 lines
1.7 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Particle">
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<!-- Degree of Freedom: 3000
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Actuators: 0
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-->
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".01"/>
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<size memory="1G"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
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<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
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<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
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<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
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<replicate count="10" offset=".07 0 0">
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<replicate count="10" offset="0 .07 0">
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<replicate count="10" offset="0 0 .07">
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<body pos="-.315 -.315 1">
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<joint type="slide" axis="1 0 0"/>
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<joint type="slide" axis="0 1 0"/>
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<joint type="slide" axis="0 0 1"/>
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<geom size=".025" rgba=".8 .2 .1 1" condim="1"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>
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