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google_robot_scene.xml
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google_robot_scene.xml
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<mujoco model="robot scene">
<include file="google_robot.xml"/>
<statistic center="0 0 0.8" extent="2"/>
<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="120" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="1 -1 1.5" dir="-1 1 -1" diffuse="0.5 0.5 0.5" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
<body mocap="true" name="mocap" pos="2.8000000e-16 -3.3000160e-01 1.6436609e+00">
<site pos="0 0 0.075" size="0.003 0.003 0.1" type="box" name="mocap_left_site1" rgba="0 0 1 1"/>
<site pos="0 0.075 0" size="0.003 0.1 0.003" type="box" name="mocap_left_site2" rgba="0 1 0 1"/>
<site pos="0.075 0 0" size="0.1 0.003 0.003" type="box" name="mocap_left_site3" rgba="1 0 0 1"/>
</body>
</worldbody>
<equality>
<weld body1="mocap" body2="link_gripper"/>
</equality>
</mujoco>