Yuval Tassa
5231a335bf
PiperOrigin-RevId: 576546484 Change-Id: I7192a0c32e1aed8e201d1db953b657e605cd74f0
23 lines
862 B
XML
23 lines
862 B
XML
<mujoco>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<statistic extent="1"/>
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<!-- switch the integrator to "implicit" for better gyroscopic stabillity -->
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<option timestep="0.01" integrator="implicitfast"/>
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<worldbody>
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<geom pos="0 0 -.5" type="plane" size="100 100 .1" zaxis=".5 0 1" material="grid"/>
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<body pos="0 0 .3">
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<freejoint/>
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<geom type="ellipsoid" size="0.15 0.1 0.07" euler="20 40 60"/>
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<light pos="0 0 1.5" mode="track"/>
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<camera pos="0 -1.498 0.1" xyaxes="1 0 0 0 0 1" mode="track"/>
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</body>
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</worldbody>
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</mujoco>
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