23 lines
1.1 KiB
XML
23 lines
1.1 KiB
XML
<!-- slope=0.1+0.8*0.5/0.9=0.54, 28.56 degree -->
|
|
<mujoco model="slope_5">
|
|
<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" />
|
|
<global offwidth="1920" offheight="1080"/>
|
|
</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="0.0" />
|
|
</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="3.1101988717280613 0.0 -0.03579718002765875" type="box" size="2.050419643960795 5.0 0.5" quat="0.993833508538892 0.0 -0.110882628509953 0.0" />
|
|
</worldbody>
|
|
</mujoco> |