scenes/default/empty.xml

<mujoco model="studyroom">
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    <option tolerance="1e-6"/>
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        <flag eulerdamp="enable" multiccd="enable"/>
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    <option integrator="implicitfast"/>
    <visual>
        <map force="0.1" fogend="10" shadowclip="0.2" />
        <headlight diffuse="0.2 0.2 0.2" ambient="0.3 0.3 0.3" specular="0 0 0" />
        <quality shadowsize="16384" offsamples="16"/>
        <global offwidth="1280" offheight="960"/>
    </visual> -->
    <compiler angle="radian" autolimits="true"/>
  <default>
    <default class="visual">
      <geom group="2" type="mesh" contype="0" conaffinity="0"/>
    </default>
    <default class="collision">
      <geom group="3" type="mesh"/>
    </default>
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    <asset>
        <texture type="skybox" builtin="gradient" rgb1=".9 .9 .9" rgb2=".9 .9 .9" width="100" height="100"/>
        <texture file="textures/tile_grigia_caldera_porcelain_floor.png" type="2d" name="texplane"/>
        
        <material name="floorplane" reflectance="0.0" shininess="0.0"
	        specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true"/>
        <texture file="textures/smooth_light_gray_plaster.png" type="2d" name="tex-wall"/>
        <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" texuniform="true" />
        <material name="white" rgba="1 1 1 1"/>
        <material name="gray" rgba="0.753 0.753 0.753 1"/>
        <material name="black" rgba="0.149 0.149 0.149 1"/>
    </asset>

  <asset>
    <material name="Birch_Wood_Flooring__English" specular="0.5" shininess="0.5" rgba="0.800000 0.800000 0.800000 1.000000"/>
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    <texture type="2d" name="coffee_foam" file="studyroom/coffee_foam.png"/>
    <material name="Coffee_Cup_-_Foam" texture="coffee_foam" specular="0.5" shininess="0.5184000240000001"/>
    <material name="Coffee_Cup_-_Glass" specular="0.5" shininess="1.0" rgba="1.000000 1.000000 1.000000 1.000000"/>
    <material name="Coffee_Cup_-_Metal" specular="0.5" shininess="0.81" rgba="0.638283 0.638283 0.638283 1.000000"/>
    <texture type="2d" name="Fabric036_2K_Color" file="studyroom/Fabric036_2K_Color.png"/>
    <material name="Fabric.001" texture="Fabric036_2K_Color" specular="0.5" shininess="0.5"/>
    <material name="Fabric.002" texture="Fabric036_2K_Color" specular="0.5" shininess="0.5"/>
    <material name="Fabric_Upholstery_001a.001" specular="0.5" shininess="0.5" rgba="1.0 1.0 1.0 1.000000"/>
    <material name="Grapes_of_Wrath" specular="0.5" shininess="0.019855367999999998" rgba="0.800000 0.800000 0.800000 1.000000"/>
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    <texture type="2d" name="photo-1550850587-cd99d1b19677" file="studyroom/photo-1550850587-cd99d1b19677.png"/>
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    <texture type="2d" name="flower.001" file="studyroom/flower.001.png"/>
    <material name="Material.007" texture="flower.001" specular="0.5" shininess="0.25"/>
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    <material name="Plastic" specular="0.5" shininess="0.349173584" rgba="0.470078 0.470078 0.470078 1.000000"/>
    <material name="Plastic.001" specular="0.5" shininess="0.349173584" rgba="0.470078 0.470078 0.470078 1.000000"/>
    <material name="Round_Towel_Hanger_Fabric" specular="0.5" shininess="0.36" rgba="0.800000 0.800000 0.800000 1.000000"/>
    <material name="Tecido" specular="0.5" shininess="0.25" rgba="0.800000 0.800000 0.800000 1.000000"/>
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    <!-- <mesh file="studyroom/studyroom_0.obj"/> -->
    <mesh file="studyroom/studyroom_1.obj"/>
    <mesh file="studyroom/studyroom_2.obj"/>
    <mesh file="studyroom/studyroom_3.obj"/>
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    <mesh file="studyroom/studyroom_30.obj"/>
    <!-- <mesh file="studyroom/studyroom_31.obj"/> -->
    <mesh file="studyroom/studyroom_32.obj"/>
    <mesh file="studyroom/studyroom_33.obj"/>
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    <mesh file="studyroom/studyroom_61.obj"/>

    <mesh file="studyroom/whiite_bookshelf.obj" scale="0.2 0.2 0.2"/>
  </asset>

  <asset>
    <texture type="2d" name="prop_books_01_mt_Base_Color" file="studyroom/bookshelf/prop_books_01_mt_Base_Color.png"/>
    <material name="BOOKS" texture="prop_books_01_mt_Base_Color" specular="0.5" shininess="0.171483734"/>
    <texture type="2d" name="shkaff_Mat_albedo" file="studyroom/bookshelf/shkaff_Mat_albedo.png"/>
    <material name="SHKAFF_MAT" texture="shkaff_Mat_albedo" specular="0.5" shininess="1.0"/>
    <texture type="2d" name="shkaff_silver_albedo" file="studyroom/bookshelf/shkaff_silver_albedo.png"/>
    <material name="SHKAF_ALBEDO" texture="shkaff_silver_albedo" specular="0.5" shininess="0.557152344"/>
    <texture type="2d" name="cp1" file="studyroom/bookshelf/cp1.png"/>
    <material name="cp1" texture="cp1" specular="1.0" shininess="0.319999939"/>
    <texture type="2d" name="cp10" file="studyroom/bookshelf/cp10.png"/>
    <material name="cp2" texture="cp10" specular="1.0" shininess="0.319999939"/>
    <texture type="2d" name="cp2" file="studyroom/bookshelf/cp2.png"/>
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    <texture type="2d" name="cp7" file="studyroom/bookshelf/cp7.png"/>
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    <texture type="2d" name="cp8" file="studyroom/bookshelf/cp8.png"/>
    <material name="cp9" texture="cp8" specular="1.0" shininess="0.319999939"/>
    <mesh file="studyroom/bookshelf/bookshelf_0.obj" scale="0.5 0.5 0.5"/>
    <mesh file="studyroom/bookshelf/bookshelf_1.obj" scale="0.5 0.5 0.5"/>
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    <mesh file="studyroom/bookshelf/bookshelf_11.obj" scale="0.5 0.5 0.5"/>
  </asset>

  <worldbody>
    <geom condim="3" group="1" material="floorplane" name="floor" pos="0 0 0" size="4 4 .125" type="plane"/>
    <geom pos="0 3 1.5" quat="0.7071 0.7071 0 0" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/>
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    <geom pos="-3 0 1.5" quat="0.5 0.5 0.5 0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
    <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
    <light pos="0 0 7" dir="0 0 -1" directional="true" ambient="0.2 0.2 0.2" diffuse="0.5 0.5 0.5" specular="0. 0. 0." castshadow="false"/>
  </worldbody>
</mujoco>