| <mujoco model="stretch scene"> |
| <include file="stretch.xml"/> |
|
|
| <statistic center="0 0 .75" extent="1.2" meansize="0.05"/> |
|
|
| <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> |
| <material name="floor" rgba=".1 .1 .1 1" reflectance="0.1"/> |
| <texture type="2d" name="wood" file="wood.png"/> |
| <material name="wood" texture="wood"/> |
| <material name="object" rgba=".2 .2 .2 1"/> |
| <texture type="skybox" builtin="gradient" rgb1="0.44 0.80 1.00" rgb2="1 1 1" width="512" height="3072"/> |
| </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="floor"/> |
| <body name="table" pos="0 -1 .24"> |
| <geom type="box" size=".6 .5 .24" mass="1" material="wood"/> |
| </body> |
| <body name="object1" pos="-.02 -0.55 .6"> |
| <freejoint/> |
| <geom type="box" size=".02 .04 .04" mass=".5" rgba=".2 .2 .5 1"/> |
| </body> |
| <body name="object2" pos=".08 -0.55 .6"> |
| <freejoint/> |
| <geom type="cylinder" size=".02 .04 .04" mass=".5" rgba=".8 .2 .2 1"/> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
