| <mujoco model="panda scene"> | |
| <include file="mjx_panda.xml"/> | |
| <statistic center="0.3 0 0.4" extent="1"/> | |
| <option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast"> | |
| <flag eulerdamp="disable"/> | |
| </option> | |
| <custom> | |
| <numeric data="12" name="max_contact_points"/> | |
| </custom> | |
| <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"/> | |
| <scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05" com="0.05" framewidth="0.01" framelength="0.2"/> | |
| </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 1.5" dir="0 0 -1" directional="true"/> | |
| <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" contype="1"/> | |
| </worldbody> | |
| </mujoco> | |