Behron
3e39a34a7a
More merge conflicts. Taking main changes then will integrate mine.
28 lines
973 B
XML
28 lines
973 B
XML
<mujoco model="scene">
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<include file="umi_gripper.xml" />
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<statistic center="0.2 0 0.2" extent="1.0" />
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<visual>
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<headlight diffuse="0.3 0.3 0.3" ambient="0.2 0.2 0.2" specular="0 0 0" />
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<rgba haze="0.15 0.25 0.35 1" />
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<global azimuth="-120" elevation="-20" />
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<quality shadowsize="0" />
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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="0.0" />
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</asset>
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<worldbody>
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<light pos="0 0 4.5" dir="0 0 -1" directional="true" />
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<light pos="0 -4.5 0.6" dir="0 1 0" directional="true" />
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<geom name="floor" size="1 1 0.05" type="plane" material="groundplane" />
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</worldbody>
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</mujoco>
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