<?xml version="1.0" encoding="utf-8"?>
<!--
Usage:

<mujoco>
	<compiler meshdir="../meshes/sawyer" ...></compiler>
	<include file="shared_config.xml"></include>
    (new stuff)
	<worldbody>
		<include file="sawyer_xyz_base.xml"></include>
        (new stuff)
	</worldbody>
</mujoco>
-->

<mujoco>

    <worldbody>
        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
      </worldbody>

    <asset>
    <texture name="wood" file="../textures/wood.png" type="cube"/>
    <material shininess=".1" name="wood" texture="wood" specular="0.4"/>

    <texture name="real_door" file="../textures/real_door.png" type="cube"/>
    <material shininess=".1" name="real_door" texture="real_door" specular=".4"/>

    <texture name="darkwood" file="../textures/darkwood.png" type="cube"/>
    <material shininess=".1" name="darkwood" texture="darkwood" specular="0.4"/>

    <texture name="granite" file="../textures/granite.png" type="2d"/>
    <material shininess=".1" name="granite" texture="granite" specular="0.4"/>

    <texture name="light_wood" file="../textures/light_wood.png" type="2d"/>
    <material shininess=".1" name="light_wood" texture="light_wood" specular="0.4"/>

    <texture name="light_wood_v2" file="../textures/light_wood_v2.png" type="2d"/>
    <material shininess=".1" name="light_wood_v2" texture="light_wood_v2" specular="0.4"/>

    <texture name="light_wood_v3" file="../textures/light_wood_v3.png" type="2d"/>
    <material shininess=".1" name="light_wood_v3" texture="light_wood_v3" specular="0.4"/>

    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
  </asset>

</mujoco>