36 lines
1.2 KiB
XML
36 lines
1.2 KiB
XML
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<mujoco model="stretch scene">
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<include file="stretch.xml"/>
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<statistic center="0 0 .75" extent="1.2" meansize="0.05"/>
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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="-120" elevation="-20"/>
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</visual>
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<asset>
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<material name="floor" rgba=".1 .1 .1 1" reflectance="0.1"/>
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<texture type="2d" name="wood" file="wood.png"/>
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<material name="wood" texture="wood"/>
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<material name="object" rgba=".2 .2 .2 1"/>
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<texture type="skybox" builtin="gradient" rgb1="0.44 0.80 1.00" rgb2="1 1 1" width="512" height="3072"/>
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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="floor"/>
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<body name="table" pos="0 -1 .24">
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<geom type="box" size=".6 .5 .24" mass="1" material="wood"/>
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</body>
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<body name="object1" pos="-.02 -0.55 .6">
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<freejoint/>
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<geom type="box" size=".02 .04 .04" mass=".5" rgba=".2 .2 .5 1"/>
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</body>
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<body name="object2" pos=".08 -0.55 .6">
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<freejoint/>
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<geom type="cylinder" size=".02 .04 .04" mass=".5" rgba=".8 .2 .2 1"/>
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</body>
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</worldbody>
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</mujoco>
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