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world.xml
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<mujoco>
<compiler angle="radian" meshdir="./mesh" texturedir="./texture" />
<visual>
<quality shadowsize="8192" offsamples="8" numslices="64" numstacks="64" />
<headlight active="1" />
<rgba haze="0.15 0.25 0.35 1" />
</visual>
<option timestep="0.001" integrator="Euler" iterations="50" solver="Newton" impratio="5" noslip_iterations="5" tolerance="1e-8" cone="elliptic">
<flag actuation="enable" gravity="enable" warmstart="enable" />
</option>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512" />
<texture name="plane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true" />
</asset>
<include file="panda.xml" />
<worldbody>
<body>
<geom type="box" size=".03 .03 .03" pos=".3 0 .03" condim="6" />
<joint type="free" />
</body>
<camera name="cam" mode="targetbody" pos="1 1 1" target="panda_hand" />
<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 1 5" dir="0 -1 -1" castshadow="false"/>
<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -1 4" dir="0 0 -1" />
<light directional="true" diffuse="0 0 0" specular=".7 .7 .7" pos="0 3 3" dir="0 -3 -3" />
<geom name="floor" pos="0 0 0" group="1" size="0 0 .1" type="plane" material="plane" condim="3" />
</worldbody>
<equality />
</mujoco>