Expand source code
def get_scene_model(scene_type: str) -> str:
scenes = {
"smooth": """
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
<material name="floor" texture="grid" texrepeat="1 1"/>
</asset>
<worldbody>
<light pos="0 0 3" dir="0 0 -1" diffuse="0.7 0.7 0.7"/>
<geom type="plane" name="floor" material="floor" size="10 10 0.1"/>
</worldbody>
</mujoco>
""",
"rough": """
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".3 .4 .5" width="300" height="300"/>
<material name="floor" texture="grid" texrepeat="1 1"/>
</asset>
<worldbody>
<light pos="0 0 3" dir="0 0 -1" diffuse="0.7 0.7 0.7"/>
<geom type="plane" name="floor" material="floor" size="10 10 0.1" friction="1 0.005 0.0001"/>
</worldbody>
</mujoco>
""",
"narrow": """
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
<material name="floor" texture="grid" texrepeat="1 1"/>
</asset>
<worldbody>
<light pos="0 0 3" dir="0 0 -1" diffuse="0.7 0.7 0.7"/>
<geom type="plane" name="floor" material="floor" size="2 10 0.1"/>
</worldbody>
</mujoco>
""",
"wide": """
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300"/>
<material name="floor" texture="grid" texrepeat="1 1"/>
</asset>
<worldbody>
<light pos="0 0 3" dir="0 0 -1" diffuse="0.7 0.7 0.7"/>
<geom type="plane" name="floor" material="floor" size="20 20 0.1"/>
</worldbody>
</mujoco>
""",
}
return scenes[scene_type]