| <mujoco> |
| <asset> |
| <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/> |
| <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/> |
| <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/> |
| </asset> |
|
|
| <statistic extent="1"/> |
|
|
| |
| <option timestep="0.01" integrator="implicitfast"/> |
|
|
| <worldbody> |
| <geom pos="0 0 -.5" type="plane" size="100 100 .1" zaxis=".5 0 1" material="grid"/> |
| <body pos="0 0 .3"> |
| <freejoint/> |
| <geom type="ellipsoid" size="0.15 0.1 0.07" euler="20 40 60"/> |
| <light pos="0 0 1.5" mode="track"/> |
| <camera pos="0 -1.498 0.1" xyaxes="1 0 0 0 0 1" mode="track"/> |
| </body> |
| </worldbody> |
| </mujoco> |
|
|
