File size: 1,105 Bytes
ae02014 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 | <mujoco model="flat">
<statistic center="0 0 0.55" extent="1.1"/>
<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="150" elevation="-20"/>
</visual>
<visual>
<rgba com="0.502 1.0 0 0.5" contactforce="0.98 0.4 0.4 1" contactpoint="1.0 1.0 0.6 0.4"/>
<scale com="1" forcewidth="0.03" contactwidth="0.01" contactheight="0.02" framewidth="0.05" framelength="0.6"/>
<map force="0.005"/>
</visual>
<asset>
<!-- skybox removed: defined in the robot model XML to avoid duplicate-name error -->
<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="1000" height="1000"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="0 0 10" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 3 .125" type="plane" material="groundplane" conaffinity="7" condim="3" friction="1"/>
</worldbody>
</mujoco>
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