55 lines
1.3 KiB
XML
55 lines
1.3 KiB
XML
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<mujoco>
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<extension>
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<plugin plugin="mujoco.sdf.torus">
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<instance name="torus">
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<config key="radius1" value="0.35"/>
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<config key="radius2" value="0.15"/>
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</instance>
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</plugin>
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</extension>
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<asset>
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<mesh name="torus">
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<plugin instance="torus"/>
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</mesh>
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</asset>
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<option sdf_iterations="10" sdf_initpoints="40"/>
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<include file="scene.xml"/>
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<default>
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<geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.1"/>
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</default>
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<worldbody>
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<body pos="-1 0 3.8">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".2 .2 .8 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="-1 0 3.4">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="-1 0 3">
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<freejoint/>
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<geom type="sdf" mesh="torus" rgba=".8 .2 .2 1">
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<plugin instance="torus"/>
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</geom>
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</body>
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<body pos="0 0 2">
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<geom type="cylinder" size=".1" fromto="1 0 -1 -1 0 1"/>
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</body>
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<body pos="0 0 2">
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<geom type="cylinder" size=".5" fromto="1.2 0 -1.2 1 0 -1"/>
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</body>
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<light name="left" pos="-2 0 7" cutoff="80"/>
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<light name="right" pos="2 0 7" cutoff="80"/>
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</worldbody>
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</mujoco>
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