SWIXMujocoSim/scene.xml at main · ncsurobotics/SWIXMujocoSim · GitHub

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<mujoco model="course">

  <option timestep="0.0001" density="1000" viscosity="1e-6" cone="elliptic" noslip_iterations="3"/>

  <include file="go2.xml"/>


  <statistic center="0 0 0.1" extent="0.8"/>

  <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="-130" 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 1.5" dir="0 0 -1" directional="true"/>
    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>

    <!-- <geom pos="1.2 0 0.04" type="box"  size="0.1 2 0.04" quat="1.0 0 0 0"/>
    <geom pos="1.6 0 0.04" type="box"  size="0.1 2 0.04" quat="1.0 0 0 0"/>

    <geom pos="2.3 0 0.02" type="box"  size="0.2 2 0.15" quat="1.0 0 0 0"/>
    <geom pos="2.6 0 0.02" type="box"  size="0.22 2 0.3" quat="1.0 0 0 0"/>
    <geom pos="2.8 0 0.02" type="box"  size="0.23 2 0.45" quat="1.0 0 0 0"/>
    <geom pos="3 0 0.02" type="box"  size="0.24 2 0.6" quat="1.0 0 0 0"/>
    <geom pos="3.2 0 0.02" type="box"  size="0.25 2 0.75" quat="1.0 0 0 0"/>
    <geom pos="3.4 0 0.02" type="box"  size="0.26 2 0.9" quat="1.0 0 0 0"/> -->

    <!-- Cylinder -->
    <!-- <body name="cylinder_body1" pos="1 1 0.02">
      <geom name="cylinder_geom1" type="cylinder" size="0.7 0.02" pos="0 0 0" rgba="0.2 0.6 0.8 1"/>
    </body>
    <body name="cylinder_body2" pos="1.5 -0.5 0.5">
      <geom name="cylinder_geom2" type="cylinder" size="0.7 0.5" pos="0 0 0" rgba="0.2 0.6 0.8 1"/>
    </body> -->

  </worldbody>

</mujoco>