Baruch Tabanpour
a02fc405af
PiperOrigin-RevId: 598993152 Change-Id: I708505bf20a89d5a4840451a11b99771195003e6
19 lines
1.2 KiB
XML
19 lines
1.2 KiB
XML
<mujoco model="ray">
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<asset>
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<mesh name="tetrahedron" file="meshes/tetrahedron.stl" scale="0.4 0.4 0.4" />
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<mesh name="dodecahedron" file="meshes/dodecahedron.stl" scale="0.04 0.04 0.04" />
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<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
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<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
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</asset>
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<worldbody>
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<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
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<geom name="plane" pos="0 0 0" quat="1 0 0 0" size="4 4 4" type="plane" rgba="0.1 0.1 0.1 1"/>
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<geom name="sphere" pos="0 0 1" quat="1 0 0 0" size="0.5" type="sphere" rgba="1 0 0 1"/>
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<geom name="capsule" pos="0 1 1" quat="0 0.3826834 0 0.9238795 " size="0.25 0.5" type="capsule" rgba="0 1 0 1"/>
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<geom name="box" pos="1 0 1" quat="0 0.3826834 0 0.9238795" size="0.5 0.25 0.3" type="box" rgba="0 0 1 1"/>
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<geom name="mesh" pos="1 1 1" quat="0 0 0.3826834 0.9238795" type="mesh" mesh="tetrahedron" rgba="1 1 0 1"/>
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<geom name="mesh2" pos="2 1 1" type="mesh" mesh="dodecahedron" rgba="1 0 1 1"/>
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</worldbody>
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</mujoco>
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