gym_hil/assets/scene.xml (32 lines of code) (raw):
<mujoco model="Scene">
<include file="panda.xml"/>
<option timestep=".002" noslip_iterations="5" noslip_tolerance="0"/>
<statistic center="0.3 0 0.4" extent=".8"/>
<visual>
<headlight diffuse=".4 .4 .4" ambient=".5 .5 .5"/>
<global azimuth="160" elevation="-20" offheight="128" offwidth="128"/>
<quality offsamples="8"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<!-- <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1="0 0 0" rgb2="0 0 0"/> -->
<material name="grid" texture="grid" texrepeat="2 2" texuniform="true" reflectance="0"/>
</asset>
<worldbody>
<camera name="front" pos="1.3 0.0 0.7" quat="0.5963678 0.3799282 0.3799282 0.5963678" fovy="45"/>
<light pos="0 0 3" dir="0 0 -1" diffuse="1 1 1" specular=".3 .3 .3"/>
<light pos="0 -.5 .4" mode="targetbodycom" target="block" diffuse=".8 .8 .8" specular=".3 .3 .3"/>
<geom name="floor" size="3 3 0.01" type="plane" material="grid"/>
<body name="block" pos="0.5 0 .02">
<freejoint name="block"/>
<geom name="block" type="box" size=".02 .02 .02" mass="0.1" rgba=".6 .3 .6 1"/>
</body>
<body name="target" pos=".15 0 .5" quat="0 1 0 0" mocap="true">
<geom name="target" type="box" size=".03 .03 .03" contype="0" conaffinity="0" rgba=".6 .3 .3 0"/>
</body>
</worldbody>
<sensor>
<framepos name="block_pos" objtype="geom" objname="block"/>
<framequat name="block_quat" objtype="geom" objname="block"/>
</sensor>
</mujoco>