22 lines
21 KiB
XML
22 lines
21 KiB
XML
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<mujoco model="go2 scene">
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<include file="go2.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="0.9689124217106447 0.0 -0.24740395925452294 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="-1.3049192135136178 5.237750428149434 -0.25" type="box" size="0.23633414306162268 0.26184356013612514 0.2302701894236495" quat="0.9951706621196451 0.000994881193647964 0.04401915652477011 0.08773070914226835" /><geom pos="-1.3049192135136178 5.412815251650826 -0.25" type="box" size="0.26356256245058546 0.24015149531179092 0.23630939937088222" quat="0.9984867428435714 0.039410984476050716 0.028277716441171517 0.025910797385196756" /><geom pos="-1.3049192135136178 5.579257255837561 -0.25" type="box" size="0.2706796121059668 0.23269082728232118 0.2689336138669468" quat="0.9884123884623581 -0.0730158495009132 -0.088705217013436 -0.09920191797740507" /><geom pos="-1.3049192135136178 5.767128104977909 -0.25" type="box" size="0.25545259326269143 0.250177446476972 0.2270115926952485" quat="0.9910764941729058 -0.07541731953471117 -0.06896872275169787 -0.08557409592943889" /><geom pos="-1.3049192135136178 5.930768872803183 -0.25" type="box" size="0.24780342509974077 0.24495206130180286 0.2485254797228843" quat="0.9907459631128175 0.09456158593666306 -0.09734886617159151 -0.0019342429796988005" /><geom pos="-1.3049192135136178 6.139408078963051 -0.25" type="box" size="0.26304188023051384 0.261916375649089 0.25523993549300844" quat="0.9907184160955531 0.010506458553212797 0.09687394707298565 -0.09477379762512599" /><geom pos="-1.3049192135136178 6.32819928487263 -0.25" type="box" size="0.2463939538257797 0.23095368534053734 0.26297786514341104" quat="0.9949925385821005 -0.09726626569543 -0.02238305874959843 -0.005302867585109651" /><geom pos="-1.3049192135136178 6.520767186102756 -0.25" type="box" size="0.27295994195059653 0.24383257063730548 0.2537423849391019" quat="0.9964964467945492 0.02149841003215442 -0.07012773676534309 0.040183957347407706" /><geom pos="-1.103425851543638 5.243307957593853 -0.25" type="box" s
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</mujoco>
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