<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ Licensed under the 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.
 -->

<?xml version="1.0"?>
<mujocoinclude>
  <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" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" markrgb='.1 .1 .1' mark='random' random='.05'/> -->
    <texture name="texplane" type="2d" height="1" width="1" file="../scenes/textures/white_marble_tile2.png"/>
    <!-- <texture name="texplane" type="2d" height="1" width="1" file="../scenes/textures/floor/floor18.png" mark='edge' markrgb='0 0 0'/> -->
    <!-- <texture name="texplane" type="2d" height="1" width="1" file="../scenes/textures/floor/floor6.png" mark='edge' markrgb='0 0 0'/> -->
    <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>
  <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" euler=".0873 0 0" size="5 5 .1" conaffinity="1" contype="1" type="plane" material="MatPlane" condim="3"/>
    <site name="xaxis" pos=".5 0 0" size=".005 .5" type="capsule" rgba="1 0 0 .25" euler="0 1.57 0" group="3"/>
    <site name="yaxis" pos="0 .5 0" size=".005 .5" type="capsule" rgba="0 1 0 .25" euler="1.57 0 0" group="3"/>
  </worldbody>
</mujocoinclude>
