96 lines
12 KiB
XML
96 lines
12 KiB
XML
<mujoco model="cross_stairs_1_4_7_10">
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<include file="go2.xml"/>
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<!-- Terrain Type: cross_stairs, Level: 1_4_7_10, Cross Layout: Center Gap 2.0m. Arch step height: 0.0800 Arch step height: 0.2000 Arch step height: 0.2300 Arch 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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<texture name="tex_label_1" type="2d" file="./imgs/label_1.png" />
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<material name="mat_label_1" texture="tex_label_1" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<texture name="tex_label_7" type="2d" file="./imgs/label_7.png" />
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<material name="mat_label_7" texture="tex_label_7" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<texture name="tex_label_10" type="2d" file="./imgs/label_10.png" />
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<material name="mat_label_10" texture="tex_label_10" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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<texture name="tex_label_4" type="2d" file="./imgs/label_4.png" />
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<material name="mat_label_4" texture="tex_label_4" specular="0" shininess="0" emission="1" texrepeat="1 -1" rgba="1 1 1 1" />
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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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