robot-control-stack/assets/scenes/fr3_empty_world/scene.xml at 188bae6bed90edc7890778717bec160db2aedb8f · RobotControlStack/robot-control-stack · GitHub

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<mujoco model="fr3 scene">
  <include file="fr3_common.xml"/>
  <include file="robot.xml"/>

  <statistic center="0.3 0 0.4" extent="1"/>

  <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"/>
  </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"/>
    <body>
    <geom type="box" name="isocube" size="0.2 0.2 0.2" rgba="0.153 0.961 0.329 0.2" pos="0.498 0.0 0.226" contype="0" conaffinity="0" group="2"/>
    <camera name="bird_eye_cam" pos="0.271 -0.000 2.080" xyaxes="0.001 -1.000 -0.000 1.000 0.001 0.017" />
  </body>
  </worldbody>
</mujoco>