| <mujoco model="scene"> |
|
|
| <visual> |
| <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/> |
| <rgba haze="0.871 0.616 0.4 0.5"/> |
| <global azimuth="-130" elevation="-20"/> |
| </visual> |
|
|
| <asset> |
| <texture builtin="gradient" height="100" rgb1="0.9 0.9 0.9" rgb2="0.549 0.251 0.0" type="skybox" width="100"/> |
| <texture name="texplane" type="2d" builtin="checker" rgb1="0.5 0.5 0.5" rgb2="0.55 0.55 0.55" width="100" height="100"/> |
| <material name="MatPlane" reflectance="0.0" texture="texplane" texrepeat="1 1" texuniform="true"/> |
| </asset> |
|
|
| <worldbody> |
| <geom name="floor" friction="1 .1 .1" pos="0 0 0" size="0 0 0.125" type="plane" material="MatPlane" condim="3" conaffinity="1" contype="1" group="2" rgba="0.8 0.9 0.8 1"/> |
| <light cutoff="1000" diffuse="1.5 1.5 1.5" dir="-0 0 -1.3" directional="true" exponent="10" pos="0 0 10.3" specular=".1 .1 .1" castshadow="false"/> |
| </worldbody> |
| </mujoco> |
