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<mujoco model="scene">
<include file="so101_new_calib.xml" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="160" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
height="3072" />
<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" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
reflectance="0.2" />
</asset>
<worldbody>
<light pos="0 0 3.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />
</worldbody>
</mujoco> |