30 lines
1.1 KiB
XML
30 lines
1.1 KiB
XML
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<mujoco model="right_allegro_hand scene">
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<include file="right_hand.xml"/>
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<statistic center="0 0 0" extent="0.3"/>
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<visual>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="8192"/>
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<global azimuth="130" elevation="-40"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
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markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
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</asset>
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<worldbody>
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<light pos="0 0 1"/>
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<light pos="0.3 0 1.5" dir="0 0 -1" directional="true"/>
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<geom name="floor" pos="0 0 -0.1" size="0 0 0.05" type="plane" material="groundplane"/>
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<body name="object" pos="0 0 0.1">
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<freejoint/>
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<geom type="ellipsoid" size="0.03 0.04 0.02" rgba="0.5 0.7 0.5 1" condim="6" priority="1"
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friction="0.7 0.002 0.002"/>
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</body>
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</worldbody>
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</mujoco>
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