Yuval Tassa
395129bbd3
Minor fix to memory usage printing in simulate. PiperOrigin-RevId: 683787943 Change-Id: I0a42dacc8af0e659c3817df57bceb76d9e4d5ae3
49 lines
1.9 KiB
XML
49 lines
1.9 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="22 Humanoids">
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<option timestep="0.005"/>
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<size memory="100M"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="floor" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="floor" texture="floor" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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<model name="humanoid" file="humanoid.xml"/>
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</asset>
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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="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom name="floor" size="10 10 .05" type="plane" material="floor" condim="3"/>
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<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
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<light name="spotlight" mode="targetbodycom" target="world" diffuse="1 1 1" specular="0.3 0.3 0.3" pos="-6 -6 4" cutoff="60"/>
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<replicate count="22" euler="0 0 16.36" sep="-">
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<frame pos="0 -4 0">
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<attach model="humanoid" body="torso" prefix="_"/>
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</frame>
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</replicate>
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<replicate count="5" euler="0 0 72" sep="-">
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<light pos="0 -4 4"/>
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</replicate>
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</worldbody>
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</mujoco>
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