20 lines
865 B
XML
20 lines
865 B
XML
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<mujoco model="Unitree H1">
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<include file="h1.xml" />
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<statistic center="1 0.7 1.5" 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="-140" elevation="-30" />
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</visual>
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<asset>
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<texture type="skybox" builtin="flat" rgb1="0 0 0" 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"
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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"
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reflectance="0.2" />
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</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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</worldbody>
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</mujoco>
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