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- <!-- Copyright 2021 DeepMind Technologies Limited
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
- -->
- <mujoco>
- <compiler meshdir="asset" texturedir="asset"/>
- <statistic meansize=".05"/>
- <visual>
- <rgba haze="0.15 0.25 0.35 1"/>
- <quality shadowsize="4096"/>
- <map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1"/>
- </visual>
- <asset>
- <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
- <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
- width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
- <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="10 10" texuniform="true"/>
- </asset>
- <worldbody>
- <light diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 2.0" dir="0 0 -1" castshadow="false"/>
- <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
- <geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
- </worldbody>
- </mujoco>
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