magni_robot/scene.xml at main · joseph-ruskiewicz/magni_robot · GitHub

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<mujoco model="scene">
  <include file="magni.xml" />

  <statistic center="0 0 0.3" extent="6" />

  <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="160" 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 3.5" dir="0 0 -1" directional="true" />
    <geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />

    <geom name="obstacle"   type="box"      pos="1.5 0 0.5"     size="0.15 0.15 0.5"  rgba="0.8 0.4 0.2 1" />
    <geom name="column"     type="cylinder" pos="-1.5 -1 0.6"   size="0.2 0.6"        rgba="0.5 0.5 0.6 1" />
    <geom name="crate"      type="box"      pos="2 2 0.2"       size="0.3 0.3 0.2"    rgba="0.45 0.30 0.18 1" />
    <geom name="wall_south" type="box"      pos="0 -2 0.4"      size="3 0.1 0.4"      rgba="0.6 0.55 0.5 1" />

    <body name="human_a" mocap="true" pos="3 -2 0.9">
      <geom type="capsule" fromto="0 0 -0.7 0 0 0.7" size="0.18" rgba="0.85 0.65 0.5 1" />
    </body>
    <body name="human_b" mocap="true" pos="-2.5 1.5 0.9">
      <geom type="capsule" fromto="0 0 -0.7 0 0 0.7" size="0.18" rgba="0.5 0.7 0.85 1" />
    </body>

    <camera name="overhead" pos="0 0 3" xyaxes="1 0 0 0 1 0" mode="fixed" />
    <camera name="follow"   pos="-1.5 -1.5 1.2" mode="targetbody" target="base" />
    <camera name="side"     pos="0 -2.5 0.5"    mode="targetbody" target="base" />
  </worldbody>
</mujoco>