Scene Components

Core environment components for scene composition.

Base Environments

Structure: scene_sim/[name]_scene.xml

<!-- Basic environment -->
<include file="scene_sim/basic_scene.xml"/>

<!-- Indoor room -->
<include file="scene_sim/room_scene.xml"/>

Available Types:

• basic_scene: Ground plane and lighting

• room_scene: Enclosed space with windows

• rooftop_scene: Open space with skyline

Standard Elements

Lighting:

<!-- Main lighting -->
<light name="main" pos="0 0 4" dir="0 0 -1" castshadow="true"/>

<!-- Window/rim lighting -->
<light name="window" pos="-2 0 2" dir="1 0 -0.5" castshadow="false"/>

Scenery Meshes:

• simpleroom1.stl: Room geometry

• highwindow.stl: Window frames

• skyline.stl: City backdrop

• wall.stl: Wall sections

Environment Textures:

• dawn/night/cloudy/stormy.png: Sky conditions

• high_contrast_brick.png: Wall surface

• oak/maple_floorboard.png: Floor surfaces

Scene Configuration

Light Setup:

<light name="main" pos="0 0 3" dir="0 0 -1" castshadow="true"/>

Background:

<texture name="skybox" file="dawn.png" type="skybox"
         width="800" height="800"/>

Room Structure:

<!-- Room geometry -->
<geom name="room" type="mesh" mesh="simpleroom1"
      material="wall" contype="0" conaffinity="0"/>

<!-- Window -->
<geom name="window" type="mesh" mesh="highwindow"
      material="glass" rgba="0.9 0.9 1 0.3"/>