robot/scene_rollers.xml

<mujoco model="scene">
    <include file="robot_allcollisions_rollers.xml" />

    <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>
    <keyframe>
        <key name="INIT" qpos="
        0 0 0.12 1 0 0 0 
        0 0 0 0 0 0 0
        0 0 0 0 
        0 0 0 0 0 0 0" ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
        <!-- <key name="STAND" qpos="0 0 0.12 1 0 0 0 0 -0.0873 -0.5236 0 0.5236 0.3491 -0.3491 0 0 0 0.0873 0.5236 0 -0.5236" ctrl="0 -0.0873 -0.5236 0 0.5236 0.3491 -0.3491 0 0 0 0.0873 0.5236 0 -0.5236"/> -->
        <!-- STAND2: trunk shifted ~5mm forward (CoM over ankle axis). Leg pitch
             leaned forward vs old STAND: hip_pitch 30->26.24deg, ankle 30->25.95deg,
             knee 0->0.28deg. -->
        <key name="STAND" qpos=" 
        0 0 0.12 1 0 0 0 

        0 -0.08726646259971647 -0.457924 -0.004940 0.452984  0 0
        0.3490658503988659 0.3490658503988659 0 0 
        0 0.08726646259971647 0.457924 0.004940 -0.452984 0 0"
         ctrl=" 
        0 -0.08726646259971647 -0.457924 -0.004940 0.452984 
        0.3490658503988659 0.3490658503988659 0 0 
        0 0.08726646259971647 0.457924 0.004940 -0.452984" 
        /> 
        <key name="SIT" qpos=" 
        0 0 0.07 1 0 0 0 
        0 0 -0.5236 1.0472 0 0
        0 0.5 1.6 0 
        0 0 0 0.5236 -1.0472 0 0 0" ctrl=" 
        0 0 -0.5236 1.0472 0 
        0.5 1.6 0 0 0 
        0 0.5236 -1.0472 0"/> 
        <key name="FOLD" qpos=" 
        0 0 0.07 1 0 0 0 
        0 0 1.57 1.57 0 0 0
        1 1 0 0 0 
        0 -1.57 -1.57 0 0 0" ctrl=" 
        0 0 1.57 1.57 0 
        1 1 0 0 
        0 0 -1.57 -1.57 0"/> 
    </keyframe>

</mujoco>