| <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> |
| |
| <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> |
|
|
