23 lines
871 B
XML
23 lines
871 B
XML
<mujoco model="wheelleg_scene">
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<include file="wheelleg.xml"/>
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<option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
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<visual>
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<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3"/>
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<global azimuth="120" 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"
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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"/>
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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 3" dir="0 0 -1" directional="true"/>
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<geom name="floor" size="0 0 0.05" type="plane" material="groundplane" friction="0.8 0.05 0.01"/>
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</worldbody>
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</mujoco>
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