49 lines
2.0 KiB
XML
49 lines
2.0 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
|
|
|
|
Licensed under the Apache License, Version 2.0 (the "License");
|
|
you may not use this file except in compliance with the License.
|
|
You may obtain a copy of the License at
|
|
|
|
http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
Unless required by applicable law or agreed to in writing, software
|
|
distributed under the License is distributed on an "AS IS" BASIS,
|
|
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
See the License for the specific language governing permissions and
|
|
limitations under the License.
|
|
-->
|
|
|
|
<mujoco>
|
|
<compiler meshdir="asset" texturedir="asset"/>
|
|
<statistic extent="1.5" meansize=".05"/>
|
|
|
|
<option timestep="0.005" jacobian="sparse"/>
|
|
|
|
<visual>
|
|
<rgba haze="0.15 0.25 0.35 1"/>
|
|
<quality shadowsize="4096"/>
|
|
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
|
|
</visual>
|
|
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
|
|
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
|
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
|
|
<texture name="texmarble" type="cube" file="marble.png"/>
|
|
|
|
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
|
|
<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
|
|
</asset>
|
|
|
|
<worldbody>
|
|
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
|
|
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
|
|
|
|
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
|
|
|
|
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
|
|
<geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
|
|
</body>
|
|
</worldbody>
|
|
</mujoco>
|