36 lines
1021 B
XML
36 lines
1021 B
XML
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<mujoco model="h1 scene">
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<include file="h1.xml"/>
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<statistic center="0 0 1" extent="1.8"/>
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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="160" 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"
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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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</asset>
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<worldbody>
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<light pos="0 0 3.5" 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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<keyframe>
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<key name="home"
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qpos="
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0 0 0.98
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1 0 0 0
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0 0 -0.4 0.8 -0.4
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0 0 -0.4 0.8 -0.4
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0
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0 0 0 0
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0 0 0 0"/>
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</keyframe>
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</mujoco>
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