22 lines
21 KiB
XML
22 lines
21 KiB
XML
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<mujoco model="b2 scene">
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<include file="b2.xml" />
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<statistic center="0 0 0.1" extent="0.8" />
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
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<rgba haze="0.15 0.25 0.35 1" />
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<global azimuth="-130" elevation="-20" />
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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="3072" />
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
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<hfield name="perlin_hfield" size="1.0 0.75 0.2 0.2" file="../height_field.png" /><hfield name="image_hfield" size="1.0 1.0 0.02 0.1" file="../unitree_hfield.png" /></asset>
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<worldbody>
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<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
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<geom pos="1.5 0.0 0.1" type="box" size="0.5 0.75 0.1" quat="1.0 0.0 0.0 0.0" /><geom pos="1.5 0.0 0.25" type="cylinder" size="0.5 0.25 0.25" quat="1.0 0.0 0.0 0.0" /><geom pos="2.0 2.0 0.5" type="box" size="1.5 0.75 0.05" quat="0.968912421710645 0.0 -0.24740395925452296 0.0" /><geom pos="1.2 4.0 0.075" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.4 4.0 0.22499999999999998" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.6 4.0 0.375" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.8 4.0 0.525" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.0 4.0 0.675" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.2 4.0 0.8250000000000001" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.4 4.0 0.9750000000000001" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.5999999999999996 4.0 1.125" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="2.8 4.0 1.275" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="3.0 4.0 1.4249999999999998" type="box" size="0.1 0.75 0.075" quat="1.0 0.0 0.0 0.0" /><geom pos="1.2 6.0 0.075" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="1.4 6.0 0.22499999999999998" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="1.6 6.0 0.375" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="1.8 6.0 0.525" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="2.0 6.0 0.675" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="2.2 6.0 0.8250000000000001" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="2.4 6.0 0.9750000000000001" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="2.5999999999999996 6.0 1.125" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="2.8 6.0 1.275" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="3.0 6.0 1.4249999999999998" type="box" size="0.1 0.75 0.024999999999999994" quat="1.0 0.0 0.0 0.0" /><geom pos="-2.3004568480001155 5.230133099821309 -0.25" type="box" size="0.2667418434232123 0.23249216246593754 0.2715603840154582" quat="0.9937514109759715 -0.09011523303710722 0.04584049177774514 -0.04728665003473938" /><geom pos="-2.3004568480001155 5.391515746812814 -0.25" type="box" size="0.2505265313539923 0.2412016313894627 0.2264599735410741" quat="0.9947855832976967 0.0430479213794962 0.004496328850963352 0.0923488102512985" /><geom pos="-2.3004568480001155 5.632708194664771 -0.25" type="box" size="0.2744568938089314 0.24992449427731162 0.22801643019685697" quat="0.9927267717486197 0.07160131296835394 -0.005361370104009311 0.09663366051940456" /><geom pos="-2.3004568480001155 5.798990692476225 -0.25" type="box" size="0.24325500647900072 0.2253568952181176 0.26629093934549475" quat="0.9942381647366705 0.09525301325965287 0.00794678229822832 -0.048519932987572345" /><geom pos="-2.3004568480001155 5.973541127254212 -0.25" type="box" size="0.2398510354361266 0.24285052907373605 0.26474659664781297" quat="0.9964084612238755 -0.04106533003165011 -0.0363795415854814 0.06450074437470632" /><geom pos="-2.3004568480001155 6.1770510315939235 -0.25" type="box" size="0.25720829764278585 0.23711879563200236 0.22878298749776027" quat="0.9937658772683013 -0.08834725270306294 0.0169573991826565 -0.06585279591592566" /><geom pos="-2.3004568480001155 6.407180520840007 -0.25" type="box" size="0.24754562515074474 0.25947160159627974 0.23928331743280107" quat="0.9958964892628885 0.04305664599570697 -0.045399565427206114 0.0653849169799509" /><geom pos="-2.3004568480001155 6.629340270719652 -0.25" type="box" size="0.2547590853159438 0.2314305783929404 0.268237133040538" quat="0.9972993669391019 0.044601800582484905 -0.05693885512370222 -0.012752210195468728" /><geom pos="-2.1403960142105545 5.169451405171494 -0.25" type="box" size
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</mujoco>
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