Alessio Quaglino
2d0995b47c
PiperOrigin-RevId: 458441645 Change-Id: I14324e8efda5142b2718a5cc9215228c7556dbf7
45 lines
1.3 KiB
XML
45 lines
1.3 KiB
XML
<mujoco>
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<asset>
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<skin name="skin" rgba="1 0 1 1" inflate="0.01"
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vertex="
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-.5 -.5 -.5
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.5 -.5 -.5
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-.5 .5 -.5
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.5 .5 -.5
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-.5 -.5 .5
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.5 -.5 .5
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-.5 .5 .5
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.5 .5 .5"
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texcoord=".1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1 .1"
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face="0 1 4 4 1 5 5 1 3 5 3 7 7 3 2 7 2 6 6 2 0 6 0 4 4 5 7 4 7 6">
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<bone body="box" bindpos="0 0 .5" bindquat="1 0 0 0" vertid="4 5 6 7" vertweight="1 1 1 1"/>
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<bone body="world" bindpos="0 0 -.5" bindquat="1 0 0 0" vertid="0 1 2 3" vertweight="1 1 1 1"/>
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</skin>
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</asset>
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<worldbody>
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<geom type="plane" size="2 2 .01"/>
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<light pos="0 1 3" dir="0 -1 -2"/>
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<light pos="0 -1 3" dir="0 1 -2"/>
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<body name="box" pos="0 0 .9">
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<joint limited="true" range="-45 45"/>
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<geom type="box" size=".5 .5 .1"/>
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</body>
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<body pos="1 -1 .6">
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<freejoint/>
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<composite prefix="B0" type="box" count="4 4 4" spacing=".2">
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<geom group="4" size=".1"/>
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<skin rgba="1 1 0 1" group="2"/>
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</composite>
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</body>
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<body pos="-1 1 .6">
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<freejoint/>
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<composite prefix="B1" type="box" count="4 4 4" spacing=".2">
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<geom group="2" size=".1"/>
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<skin rgba="0 1 1 1" group="4"/>
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</composite>
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</body>
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</worldbody>
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</mujoco>
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