Kyle Bayes
229d821915
PiperOrigin-RevId: 896996806 Change-Id: I7f842d25b4497e135831879e4ac1b268d0307aa6
57 lines
1.3 KiB
XML
57 lines
1.3 KiB
XML
<mujoco>
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<option>
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<flag island="enable" multiccd="enable"/>
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</option>
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<default>
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<joint type="slide" axis="1 0 0" damping="3" frictionloss=".1"/>
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<geom type="cylinder" size=".07 .1" zaxis="0 1 0"/>
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<site size=".015" rgba="1 0 0 1"/>
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</default>
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<worldbody>
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<site name="anchor" pos="0 0 1"/>
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<body pos="0 0 .75">
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<joint stiffness="10"/>
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<geom name="0"/>
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</body>
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<site name="side0" pos=".15 0 .75" rgba="0 0 1 1"/>
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<site name="01" pos="0 0 .625"/>
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<body pos="0 0 .5">
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<joint stiffness="30"/>
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<geom name="1"/>
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</body>
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<site name="side1" pos="-.15 0 .5" rgba="0 0 1 1"/>
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<site name="12" pos="0 0 .375"/>
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<body pos="0 0 .25">
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<joint stiffness="100"/>
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<geom name="2"/>
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</body>
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<site name="side2" pos=".15 0 .25" rgba="0 0 1 1"/>
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<body>
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<freejoint/>
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<site name="box" pos="0 0 .1"/>
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<geom type="box" size=".1 .1 .1"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 1.05" rgba="0 1 0 1" width=".005">
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<site site="anchor"/>
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<geom geom="0" sidesite="side0"/>
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<site site="01"/>
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<geom geom="1" sidesite="side1"/>
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<site site="12"/>
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<geom geom="2" sidesite="side2"/>
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<site site="box"/>
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</spatial>
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</tendon>
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</mujoco>
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