bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
24 lines
928 B
XML
24 lines
928 B
XML
<mujoco model="scene">
|
|
<include file="{robot_filename}" />
|
|
|
|
<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="160" elevation="-20" />
|
|
</visual>
|
|
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
|
|
height="3072" />
|
|
<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="300" height="300" />
|
|
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
|
|
reflectance="0.2" />
|
|
</asset>
|
|
|
|
<worldbody>
|
|
<light pos="0 0 3.5" dir="0 0 -1" directional="true" />
|
|
<geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />
|
|
</worldbody>
|
|
</mujoco> |