Saran Tunyasuvunakool
a499b38120
Closes #2 Closes #42 Closes #59 PiperOrigin-RevId: 416794598 Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
64 lines
2.4 KiB
XML
64 lines
2.4 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Hammock">
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<!-- Degree of Freedom: 312
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Actuators: 21
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Equality constraints: 178
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Tendons: 178
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Simple humanoid on a hammock, implemented as a 2D grid composite, pinned at the corners.
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-->
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<option timestep="0.005" solver="CG" iterations="30" tolerance="1e-6"/>
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<size njmax="1000" nconmax="100" nstack="1000000"/>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="2048"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<texture name="hammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1"
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width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
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<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
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<material name="hammock" texture="hammock"/>
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</asset>
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<include file="humanoid_body.xml"/>
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<worldbody>
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<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
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<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
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<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
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<composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">
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<skin texcoord="true" material="hammock" inflate="0.01" subgrid="3"/>
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<pin coord="0 0"/>
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<pin coord="10 0"/>
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<pin coord="0 8"/>
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<pin coord="10 8"/>
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<geom size=".095"/>
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<joint kind="main" damping="10"/>
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</composite>
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</worldbody>
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</mujoco>
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