/
basic_scene_c.xml
56 lines (43 loc) · 3.6 KB
/
basic_scene_c.xml
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<mujocoinclude>
<option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>
<asset>
<!-- night sky -->
<!-- <texture name="skybox" type="skybox" builtin="gradient" rgb1=".08 .09 .10" rgb2="0 0 0"
width="800" height="800" mark="random" markrgb=".8 .8 .8"/> -->
<texture type="skybox" builtin="gradient" rgb1=".50 .495 .48" rgb2=".50 .495 .48" width="32" height="32"/>
<texture name="T_table" type="cube" file="../textures/wood2.png"/>
<texture name="T_floor" type="2d" file="../textures/floor2.png"/>
<material name="basic_floor" texture="T_floor" texrepeat="12 12" shininess=".3" specular="0.5" reflectance="0.2"/>
<material name="table_wood" texuniform="false" texture="T_table" shininess=".3" specular="0.5"/>
<material name="table_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
<mesh file="../objects/meshes/table/tablebody.stl" name="tablebody" scale="1 1 1"/>
<mesh file="../objects/meshes/table/tabletop.stl" name="tabletop" scale="1 1 1"/>
</asset>
<visual>
<map fogstart="1.5" fogend="5" force="0.1" znear="0.01"/>
<quality shadowsize ="4096" offsamples="4"/>
<headlight ambient="0.4 0.4 0.4"/>
</visual>
<worldbody>
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
<light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/>
<light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
<body name="tablelink" pos="0 .6 0">
<geom material="table_wood" group="1" pos="0.0 -0.1 0.0" size="0.04 0.3 0.05" type="box" conaffinity="0" contype="0"/>
<geom material="table_wood" group="1" pos="-0.37 0.0 0.0" size="0.33 0.4 0.05" type="box" conaffinity="0" contype="0"/>
<geom material="table_wood" group="1" pos="0.37 0.0 0.0" size="0.33 0.4 0.05" type="box" conaffinity="0" contype="0"/>
<geom material="table_wood" group="1" pos="0.0 0.34 0.0" size="0.04 0.06 0.05" type="box" conaffinity="0" contype="0"/>
<geom material="table_wood" group="1" pos="0.0 0.0 -0.065" size="0.7 0.4 0.015" type="box" conaffinity="0" contype="0"/>
<geom material="table_wood" group="1" pos="0 0 -.065" size="0.7 0.4 .015" type="box" conaffinity="0" contype="0"/>
<geom material="table_wood" group="1" mesh="tablebody" pos="0 0 -0.65" type="mesh" conaffinity="0" contype="0"/>
<geom material="table_col" group="4" pos="0 0 -0.483" size="0.69 0.38 0.43" type="box" conaffinity="1" contype="0"/>
<geom material="table_col" group="4" pos="0.0 -0.1 0.0" size="0.04 0.3 0.05" type="box" conaffinity="1" contype="0"/>
<geom material="table_col" group="4" pos="-0.37 0.0 0.0" size="0.33 0.4 0.05" type="box" conaffinity="1" contype="0"/>
<geom material="table_col" group="4" pos="0.37 0.0 0.0" size="0.33 0.4 0.05" type="box" conaffinity="1" contype="0"/>
<geom material="table_col" group="4" pos="0.0 0.34 0.0" size="0.04 0.06 0.05" type="box" conaffinity="1" contype="0"/>
<geom material="table_col" group="4" pos="0.0 0.0 -0.065" size="0.7 0.4 0.015" type="box" conaffinity="1" contype="0"/>
<!-- <geom material="table_col" group="4" pos="0 0 -0.46" size="0.7 0.4 0.46" type="box" conaffinity="1" contype="0"/> -->
</body>
<geom name="floor" size="4 4 .1" pos="0 0 -.913" conaffinity="1" contype="1" type="plane" material="basic_floor" condim="3"/>
</worldbody>
</mujocoinclude>