| <mujoco model="lite6 scene"> |
| <include file="lite6.xml"/> |
|
|
| <statistic center="0 0 0.3" extent="0.6"/> |
|
|
| <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="120" 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 1.5" dir="0 0 -1" directional="true"/> |
| <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/> |
| </worldbody> |
| </mujoco> |
|
|
