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# Copyright 2019 Google LLC
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# Licensed under the Apache License, Version 2.0 (the "License");
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# You may obtain a copy of the License at
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#      http://www.apache.org/licenses/LICENSE-2.0
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# distributed under the License is distributed on an "AS IS" BASIS,
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<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" height="1" width="1" file="../scenes/textures/wood.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>

    <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' 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>
