Alessio Quaglino
c52d1b3941
PiperOrigin-RevId: 730089997 Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
88 lines
2.9 KiB
XML
88 lines
2.9 KiB
XML
<mujoco>
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<statistic extent="1.5" meansize=".05"/>
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<option solver="CG" tolerance="1e-6"/>
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<size memory="5M"/>
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<visual>
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<rgba haze="0.15 0.25 0.35 1"/>
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<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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</asset>
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<default>
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<geom solref=".005 1"/>
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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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<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"/>
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<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
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<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
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<geom type="capsule" size=".1 .1" group="1" condim="1"/>
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</body>
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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="3" offset=".2 0 0">
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<replicate count="3" offset="0 .2 0">
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<replicate count="2" offset="0 0 .2">
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<body pos="-.2 -.2 1">
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<freejoint/>
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<geom type="sphere" size=".09" rgba=".8 .2 .1 1" condim="3"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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<replicate count="3" offset=".2 0 0" prefix="A">
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<replicate count="3" offset="0 .2 0">
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<replicate count="2" offset="0 0 .2">
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<body pos="-.2 -.2 1.6">
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<freejoint/>
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<geom type="cylinder" size=".09 .02" rgba=".8 .2 .1 1" condim="3"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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<replicate count="3" offset=".2 0 0" prefix="B">
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<replicate count="3" offset="0 .2 0">
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<replicate count="2" offset="0 0 .2">
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<body pos="-.2 -.2 2.2">
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<freejoint/>
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<geom type="cylinder" size=".02 .09" rgba=".8 .2 .1 1" condim="3"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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<replicate count="3" offset=".2 0 0" prefix="C">
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<replicate count="3" offset="0 .2 0">
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<replicate count="2" offset="0 0 .2">
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<body pos="-.2 -.2 2.8">
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<freejoint/>
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<geom type="sphere" size=".06" rgba=".8 .2 .1 1" condim="3"/>
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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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