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<mujoco model="g1 scene">
<include file="g1_29dof_lock_waist_rev_1_0_modified.xml"/>
<statistic center="1 0.7 1.5" extent="0.8" />
<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="-140" elevation="-30" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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<texture name="texplane2" type="2d" builtin="checker" rgb1="1 0.3137 0.1843" rgb2="0.0 0.30196 0.38039"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matplane2" reflectance="0.1" texture="texplane2" texrepeat="1 1" texuniform="true"/>
<material name='obstacle' rgba='0.9 0.6 0.2 1'/>
<material name='visualgeom' rgba='0.5 0.9 0.2 1'/>
<material name='visualgeom2' rgba='0.5 0.9 0.2 1'/>
<hfield name='hf0' nrow='200' ncol='200' size="10 5 0.2 .1"/>
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true" />
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<geom name="ground" type="plane" size="0 0 1" pos="0.001 0 0" quat="1 0 0 0" material="matplane" condim="1" conaffinity='15'/>
</worldbody>
</mujoco> |