Haroon Qureshi
465e574c42
PiperOrigin-RevId: 913694536 Change-Id: I49a2a3a4f918f9b80650ce884d3d442581e60d6b
63 lines
2.9 KiB
XML
63 lines
2.9 KiB
XML
<mujoco>
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<asset>
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<texture file="test-pattern.png" type="2d"/>
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<texture name="white" type="2d" builtin="flat" rgb1="1 1 1" width="2" height="2"/>
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<texture name="grid" type="2d" builtin="checker" rgb1="1 1 1" rgb2="0.9 0.9 0.9" width="64" height="64"/>
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<material name="pattern" texture="test-pattern"/>
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<material name="floor" reflectance="0.5" texture="grid" texuniform="true"/>
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<material name="metal" metallic="1.0" roughness="0.0">
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<layer role="rgb" texture="white"/>
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<layer role="metallic" texture="white"/>
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<layer role="roughness" texture="white"/>
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</material>
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<mesh name="icosahedron"
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vertex="0 1 1.618
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0 -1 1.618
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0 1 -1.618
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0 -1 -1.618
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1 1.618 0
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-1 1.618 0
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1 -1.618 0
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-1 -1.618 0
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1.618 0 1
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1.618 0 -1
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-1.618 0 1
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-1.618 0 -1"/>
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<hfield name="hfield" nrow="3" ncol="3" size="1 1 0.1 0.1"
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elevation="1 0 1
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0 1 0
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1 0 1"/>
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</asset>
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<worldbody>
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<geom name="ground" type="plane" size="12 8 0.1" pos="0 0 -1" material="floor"/>
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<geom type="box" rgba="0.3 0.6 0.9 1.0" size="1 1 1" pos="-9 0 0"/>
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<geom type="sphere" rgba="0.3 0.6 0.9 1.0" size="1" pos="-6 0 0"/>
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<geom type="ellipsoid" rgba="0.3 0.6 0.9 1.0" size="1 2 1" pos="0 0 0"/>
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<geom type="capsule" rgba="0.3 0.6 0.9 1.0" size="1 1" pos="-3 0 1"/>
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<geom type="cylinder" rgba="0.3 0.6 0.9 1.0" size="1 1" pos="3 0 0"/>
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<geom type="hfield" hfield="hfield" rgba="0.3 0.6 0.9 1.0" pos="6 0 -0.5"/>
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<geom type="sdf" mesh="icosahedron" rgba="0.3 0.6 0.9 1.0" pos="9 0 0.809"/>
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<geom type="box" material="pattern" size="1 1 1" pos="-9 5 0"/>
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<geom type="sphere" material="pattern" size="1" pos="-6 5 0"/>
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<geom type="ellipsoid" material="pattern" size="1 2 1" pos="0 5 0"/>
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<geom type="capsule" material="pattern" size="1 1" pos="-3 5 1"/>
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<geom type="cylinder" material="pattern" size="1 1" pos="3 5 0"/>
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<geom type="hfield" hfield="hfield" material="pattern" pos="6 5 -0.5"/>
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<geom type="sdf" mesh="icosahedron" material="pattern" pos="9 5 0.809"/>
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<geom type="box" material="metal" size="1 1 1" pos="-9 -5 0"/>
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<geom type="sphere" material="metal" size="1" pos="-6 -5 0"/>
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<geom type="ellipsoid" material="metal" size="1 2 1" pos="0 -5 0"/>
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<geom type="capsule" material="metal" size="1 1" pos="-3 -5 1"/>
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<geom type="cylinder" material="metal" size="1 1" pos="3 -5 0"/>
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<geom type="hfield" hfield="hfield" material="metal" pos="6 -5 -0.5"/>
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<geom type="sdf" mesh="icosahedron" material="metal" pos="9 -5 0.809"/>
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</worldbody>
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</mujoco>
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