<mujoco model="empty_arena">
  <asset>
    <!--<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>-->
    <texture file="../textures/gray-felt.png" type="2d" name="texplane"/>
    <texture file="../textures/blue-wood.png" type="2d" name="bluewood"/>
    <material name="floorplane" reflectance="0.00" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
    <material name="stairsplane" reflectance="0.00" shininess="0.0" specular="0.0" texrepeat="2 2" texture="bluewood" texuniform="true"/>
    <!-- plaster walls -->
    <texture file="../textures/white-plaster.png" type="2d" name="tex-white-plaster"/>
    <material name="walls_mat" reflectance="0.0" shininess="0.01" specular="0.1" texrepeat="3 3" texture="tex-white-plaster" texuniform="true" />

  </asset>
  <worldbody>
    <!-- Floor -->
    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="4 1.5 .125" type="plane"/>
    <!-- Walls (visual only) -->
    <geom pos="0 1.5 1.5" quat="0.7071 0.7071 0 0" size="4 1.5 0.01" type="box" name="wall_left" material="walls_mat" group="1"/>
    <geom pos="0 -1.5 1.5" quat="0.7071 -0.7071 0 0" size="4 1.5 0.01" type="box" name="wall_right" material="walls_mat" group="1"/>
    <geom pos="-4 0 1.5" quat="0.7071068 0 0.7071068 0 " size="1.5 1.5 0.01" type="box" name="wall_rear" material="walls_mat" group="1"/>
    <geom pos="4 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="1.5 1.5 0.01" type="box"  name="wall_front" material="walls_mat" group="1"/>
 <geom pos="3.85 0 1.2"  size="0.15 1.5 1.2" type="box"  name="step_11" material="stairsplane" group="1"/>
    <geom pos="3.55 0 1.1"  size="0.15 1.5 1.1" type="box"  name="step_10" material="stairsplane" group="1"/>
    <geom pos="3.25 0 1.0"  size="0.15 1.5 1" type="box"  name="step_9" material="stairsplane" group="1"/>
    <geom pos="2.95 0 0.9"  size="0.15 1.5 0.9" type="box"  name="step_8" material="stairsplane" group="1"/>
    <geom pos="2.65 0 0.8"  size="0.15 1.5 0.8" type="box"  name="step_7" material="stairsplane" group="1"/>
    <geom pos="2.35 0 0.7"  size="0.15 1.5 0.7" type="box"  name="step_6" material="stairsplane" group="1"/>
    <geom pos="2.05 0 0.6"  size="0.15 1.5 0.6" type="box"  name="step_5" material="stairsplane" group="1"/>
    <geom pos="1.75 0 0.5"  size="0.15 1.5 0.5" type="box"  name="step_4" material="stairsplane" group="1"/>
    <geom pos="1.45 0 0.4"  size="0.15 1.5 0.4" type="box"  name="step_3" material="stairsplane" group="1"/>
    <geom pos="1.15 0 0.3"  size="0.15 1.5 0.3" type="box"  name="step_2" material="stairsplane" group="1"/>
    <geom pos="0.85 0 0.2"  size="0.15 1.5 0.2" type="box"  name="step_1" material="stairsplane" group="1"/>
    <geom pos="0.55 0 0.1"  size="0.15 1.5 0.1" type="box"  name="step_0" material="stairsplane" group="1"/>
    <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"/>
    <!-- front view -->
    <camera mode="fixed" name="frontview" pos="-3.9 -1.3 0.7" euler="1.57 -1.308 0" />
    <!-- bird view -->
    <camera mode="fixed" name="birdview" pos="1.6 0 6.0" quat="0.7071 0 0 0.7071"/>
    <!-- side view -->
    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
  </worldbody>
</mujoco>
