52 lines
4.9 KiB
XML
52 lines
4.9 KiB
XML
<mujoco model="stairs_down_4">
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<!-- Terrain Type: stairs_down, Level: 4, Stairs step height: 0.1700 -->
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<statistic center="0 0 0.1" 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="-130" 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" 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="0.0" />
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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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<geom pos="0.155 0.0 5.5249999999999995" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="0.46499999999999997 0.0 5.3549999999999995" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="0.7749999999999999 0.0 5.185" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.085 0.0 5.015" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.395 0.0 4.845" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="1.705 0.0 4.675" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.015 0.0 4.505" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.325 0.0 4.335" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.6350000000000002 0.0 4.165" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="2.9450000000000003 0.0 3.995" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.2550000000000003 0.0 3.825" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.5650000000000004 0.0 3.6550000000000002" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="3.8750000000000004 0.0 3.4850000000000003" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.1850000000000005 0.0 3.3150000000000004" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.495 0.0 3.1450000000000005" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="4.805 0.0 2.9750000000000005" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="5.114999999999999 0.0 2.8050000000000006" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="5.424999999999999 0.0 2.6350000000000007" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="5.7349999999999985 0.0 2.4650000000000007" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.044999999999998 0.0 2.295000000000001" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.354999999999998 0.0 2.125000000000001" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.664999999999997 0.0 1.955000000000001" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="6.974999999999997 0.0 1.785000000000001" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.284999999999997 0.0 1.615000000000001" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.594999999999996 0.0 1.4450000000000012" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="7.904999999999996 0.0 1.2750000000000012" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="8.214999999999996 0.0 1.1050000000000013" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="8.524999999999997 0.0 0.9350000000000014" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="8.834999999999997 0.0 0.7650000000000015" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.144999999999998 0.0 0.5950000000000015" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.454999999999998 0.0 0.42500000000000154" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="9.764999999999999 0.0 0.25500000000000156" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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<geom pos="10.075 0.0 0.08500000000000157" type="box" size="0.186 5.0 0.08499999999999999" quat="1.0 0.0 0.0 0.0" />
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</worldbody>
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</mujoco>
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