<mujoco model="basic scene">
<!-- =================================================
    Copyright 2019 Vikash Kumar
    Model   :: Basic Scene (MuJoCoV2.0)
    Author  :: Vikash Kumar (vikashplus@gmail.com), Michael Wu (michael50wu@gmail.com)
    source  :: https://github.com/vikashplus/scene_sim
    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->

  <asset>
    <texture name="skybox" type="skybox" builtin="gradient" rgb1=".08 .09 .10" rgb2="0 0 0" width="800" height="800" mark="random" markrgb=".8 .8 .8"/>
    <texture name="texplane" type="2d" height="1" width="1" file="../scene_sim/textures/white_marble_tile2.png"/>
    <material name="MatPlane" reflectance="0.05" texture="texplane" texrepeat="4 4" texuniform="true"/>
  </asset>

  <visual>
    <map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
    <quality shadowsize="4096" offsamples="4"/>
  </visual>

  <statistic extent="3"/>

  <worldbody>
    <light directional="true" diffuse=".3 .3 .3" specular="0.3 0.3 0.3" pos="-1 -1 1" dir="1 1 -1"/>
    <light directional="true" diffuse=".3 .3 .3" specular="0.3 0.3 0.3" pos="1 -1 1" dir="-1 1 -1"/>
    <light directional="true" diffuse=".3 .3 .3" specular="0.3 0.3 0.3" pos="0 1 1" dir="0 -1 -1"/>
    <geom name="floor" pos="0 0 0.0001" size="10 10 .1" conaffinity="1" contype="1" type="plane" material="MatPlane" condim="3"/>
    <site name="xaxis" fromto="0 0 0 1 0 0" size=".005" type="capsule" rgba="1 0 0 .25" group="3"/>
    <site name="yaxis" fromto="0 0 0 0 1 0" size=".005" type="capsule" rgba="0 1 0 .25" group="3"/>
  </worldbody>

</mujoco>
