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| 1 | +<mujoco> |
| 2 | + <asset> |
| 3 | + <texture name="cube" type="cube" |
| 4 | + fileup="../common_assets/reorientation_cube_textures/fileup.png" |
| 5 | + fileback="../common_assets/reorientation_cube_textures/fileback.png" |
| 6 | + filedown="../common_assets/reorientation_cube_textures/filedown.png" |
| 7 | + filefront="../common_assets/reorientation_cube_textures/filefront.png" |
| 8 | + fileleft="../common_assets/reorientation_cube_textures/fileleft.png" |
| 9 | + fileright="../common_assets/reorientation_cube_textures/fileright.png"/> |
| 10 | + <material name="cube" texture="cube"/> |
| 11 | + <texture name="graycube" type="cube" |
| 12 | + fileup="../common_assets/reorientation_cube_textures/grayup.png" |
| 13 | + fileback="../common_assets/reorientation_cube_textures/grayback.png" |
| 14 | + filedown="../common_assets/reorientation_cube_textures/graydown.png" |
| 15 | + filefront="../common_assets/reorientation_cube_textures/grayfront.png" |
| 16 | + fileleft="../common_assets/reorientation_cube_textures/grayleft.png" |
| 17 | + fileright="../common_assets/reorientation_cube_textures/grayright.png"/> |
| 18 | + <material name="graycube" texture="graycube"/> |
| 19 | + </asset> |
| 20 | + <worldbody> |
| 21 | + <light pos="0 0 1"/> |
| 22 | + <body name="cube" pos="0.2 0.0 0.075" quat="1 0 0 0"> |
| 23 | + <freejoint/> |
| 24 | + <geom name="cube" type="box" size=".03 .03 .03" mass=".122" material="cube"/> |
| 25 | + </body> |
| 26 | + </worldbody> |
| 27 | + |
| 28 | + <sensor> |
| 29 | + <framepos name="trace0" objtype="body" objname="cube"/> |
| 30 | + <framepos name="cube_position" objtype="body" objname="cube"/> |
| 31 | + <framequat name="cube_orientation" objtype="body" objname="cube"/> |
| 32 | + <framelinvel name="cube_linear_velocity" objtype="body" objname="cube"/> |
| 33 | + <frameangvel name="cube_angular_velocity" objtype="body" objname="cube"/> |
| 34 | + </sensor> |
| 35 | +</mujoco> |
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