41 lines
1.4 KiB
XML
41 lines
1.4 KiB
XML
<mujoco model="2f85 scene">
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<include file="2f85.xml"/>
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<!-- Add some fluid viscosity to prevent the hanging box from jiggling forever -->
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<option viscosity="0.1"/>
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<statistic center="0 0 0.05" extent="0.3"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<global azimuth="60" elevation="-20"/>
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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 -0.2 1" dir="0 0.2 -0.8" directional="true"/>
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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<site size="0.002" pos="0 0 0.2" name="anchor"/>
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<body name="object" pos="0 0 0.15">
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<freejoint/>
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<geom type="box" size="0.015 0.015 0.015" rgba=".5 .7 .5 1" friction=".5" priority="1"/>
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<site size="0.002" pos="0.015 0.015 0.015" name="hook"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 0.02" width="0.001">
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<site site="hook"/>
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<site site="anchor"/>
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</spatial>
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</tendon>
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</mujoco>
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