Alessio Quaglino
1e2e0b3053
PiperOrigin-RevId: 598598250 Change-Id: I12e60ce41ad436d037b4877d197decf6bdce0fc8
74 lines
2.1 KiB
XML
74 lines
2.1 KiB
XML
<mujoco>
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<compiler discardvisual="true"/>
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<asset>
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<texture name="discarded_skybox" type="skybox" builtin="gradient"
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rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
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<texture name="discarded" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="discarded" texture="discarded" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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<mesh name="kept" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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<mesh name="discarded0" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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<mesh name="discarded1" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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</asset>
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<worldbody>
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<geom name="kept_floor" size="0 0 .05" type="plane" material="discarded"/>
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<body pos="0 0 -.5">
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<freejoint/>
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<geom name="discarded0" type="mesh" mesh="discarded0" contype="0" conaffinity="0"/>
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</body>
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<site name="tendon0" pos=".1 0 1.5"/>
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<geom name="kept_tendon" size="0.2" contype="0" conaffinity="0" pos="0 0 1"/>
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<body pos=".1 0 -.5">
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<site name="tendon1" pos="0 0 1"/>
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<freejoint/>
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<geom name="discarded1" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
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</body>
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<body pos=".2 0 -.5">
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<geom name="kept0" type="mesh" mesh="kept"/>
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</body>
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<body pos=".3 0 -.5">
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<freejoint/>
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<geom name="kept1" type="mesh" mesh="kept"/>
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</body>
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<body pos=".4 0 -.5">
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<geom name="discarded2" type="mesh" mesh="kept" contype="0" conaffinity="0"/>
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</body>
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<geom name="kept_sensor" size="0.2" contype="0" conaffinity="0"/>
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<geom name="kept_pair" size="0.2" contype="0" conaffinity="0" pos=".3 0 .4"/>
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<geom name="kept_tuple" size="0.2" contype="0" conaffinity="0"/>
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</worldbody>
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<contact>
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<pair geom1="kept1" geom2="kept_pair"/>
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</contact>
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<tendon>
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<spatial range="0 1">
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<site site="tendon0"/>
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<geom geom="kept_tendon"/>
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<site site="tendon1"/>
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</spatial>
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</tendon>
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<sensor>
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<framepos objtype="geom" objname="kept_sensor"/>
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</sensor>
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<custom>
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<tuple name="tuple">
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<element objtype="geom" objname="kept_tuple"/>
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</tuple>
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</custom>
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</mujoco>
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