| <mujoco model="scene"> | |
| <include file="so101_new_calib.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="160" 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="0 0 3.5" dir="0 0 -1" directional="true" /> | |
| <geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" /> | |
| </worldbody> | |
| </mujoco> |