20 lines
833 B
XML
20 lines
833 B
XML
<mujoco model="base_surrounding">
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<compiler angle="radian" discardvisual="false"/>
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<option collision="all" cone="elliptic" gravity="0 0 -9.81" impratio="3" solver="Newton" timestep="0.001"
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tolerance="1e-10"/>
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<size nconmax="2000" njmax="2000"/>
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<asset>
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<texture builtin="gradient" height="32" rgb1="0.26 0.58 0.51" rgb2="0.26 0.58 0.51" type="skybox" width="32"/>
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</asset>
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<visual>
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<map zfar="1000" znear="0.001"/>
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</visual>
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<worldbody>
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<light castshadow="true" cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3"
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specular=".1 .1 .1"/>
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<body name="ground" pos="0 0 -0.94">
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<geom name="ground:geom1" rgba="0.26 0.58 0.51 1" size="0 0 1" type="plane"/>
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</body>
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</worldbody>
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</mujoco>
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