26 lines
936 B
XML
26 lines
936 B
XML
<mujoco model="tiago dual velocity scene">
|
|
|
|
<include file="tiago_dual_velocity.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="150" elevation="-20" realtime="1"/>
|
|
|
|
</visual>
|
|
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
<texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
|
|
type="2d" width="200"/>
|
|
<material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
|
|
texture="texplane"/>
|
|
</asset>
|
|
|
|
<worldbody>
|
|
<light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
|
|
<geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
|
|
</worldbody>
|
|
|
|
</mujoco>
|