Kyle Bayes
229d821915
PiperOrigin-RevId: 896996806 Change-Id: I7f842d25b4497e135831879e4ac1b268d0307aa6
39 lines
962 B
XML
39 lines
962 B
XML
<mujoco>
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<option>
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<flag multiccd="enable"/>
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</option>
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<visual>
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<global elevation="-20"/>
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</visual>
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<worldbody>
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<geom type="plane" size="1 1 .1"/>
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<light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
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<body pos="0 0 .8">
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<joint type="slide" stiffness="1000"/>
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<geom size=".05" mass="20"/>
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<site name="hook" pos="0 0 -.05"/>
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</body>
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<body pos="-.15 -.15 .3">
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<joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
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<geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
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<geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
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<geom size=".02" pos=".25 0 0"/>
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<site name="corner" pos=".25 0 .02"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 .5" width=".005">
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<site site="hook"/>
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<site site="corner"/>
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</spatial>
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</tendon>
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<actuator>
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<general joint="hinge" biasprm="2" biastype="affine"/>
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</actuator>
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</mujoco>
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