add scene mjcf

Author: WT-MM

kbot-v2-feet/scene.mjcf

@@ -0,0 +1,23 @@
+<mujoco model="k-bot_v2_sim smooth scene">
+  <include file="robot.mjcf" />
+
+  <statistic center="0.15 0.1 0.38" extent=".8" meansize="0.05" />
+
+  <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="220" elevation="-10" />
+    <quality shadowsize="8192" />
+  </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" rgba="0.9 0.9 0.9 0.2" />
+    <hfield name="hfield" nrow="100" ncol="100" size="10 10 .05 0.1" />
+  </asset>
+
+  <worldbody>
+    <geom name="floor" type="hfield" hfield="hfield" contype="1" conaffinity="0" material="groundplane" friction="1 0.005 0.0001" pos="0 0 -0.1" />
+  </worldbody>
+</mujoco>