<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/wood-tiles.png" type="2d" name="texplane"/>
    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
    <!-- plaster walls -->
    <texture file="../textures/cream-plaster.png" type="2d" name="tex-cream-plaster"/>
    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.1" texrepeat="3 3" texture="tex-cream-plaster" texuniform="true" />

  </asset>
  <worldbody>
    <!-- Floor -->
    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="10 10 .125" type="plane"/>
    <!-- Walls (visual only) -->
    <geom pos="-4.166666 7.5 5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="3.533 5 0.01" type="box" group="1" name="wall_leftcorner" material="walls_mat"/>
    <geom pos="-4.166666 -7.5 5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="3.533 5 0.01" type="box" group="1" name="wall_rightcorner" material="walls_mat"/>
    <geom pos="4.166666 10 5" quat="0.7071 0.7071 0 0" size="5.8333 5 0.01" type="box" name="wall_left" group="1" material="walls_mat"/>
    <geom pos="4.166666 -10 5" quat="0.7071 -0.7071 0 0" size="5.8333 5 0.01" type="box" name="wall_right" group="1" material="walls_mat"/>
    <geom pos="-6.6667 0 5" quat="0.5 0.5 0.5 0.5" size="5 5 0.01" type="box" name="wall_rear" group="1" material="walls_mat"/>
    <geom pos="10 0 5" quat="0.5 0.5 -0.5 -0.5" size="10 5 0.01" type="box"  name="wall_front" group="1" material="walls_mat"/>
    <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="0 -3 1.5" axisangle="1 0 0 1.308" />
    <!-- bird view -->
    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" 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>
