<?xml version="1.0" encoding="utf-8"?>
<mujoco model='nasa_minimal'>
	<asset>
		<mesh file="nasa_minimal.stl" name="minimal"></mesh>

		<texture builtin="flat" name="arena_tex" height="32" width="32" rgb1="1 1 1" type="cube"></texture>
		<material name="arena_mat" shininess="0.03" specular="0.75" texture="arena_tex"></material>
        <texture type="skybox" builtin="gradient" name="skybox_tex" rgb1="1 1 1" rgb2=".6 .8 1" 
                 width="256" height="256"/>

		<material name="skybox_mat" shininess="0.03" specular="0.75" texture="skybox_tex"></material>
	</asset>

	<default>
		<default class="arena">
			<geom margin="0.001" material="skybox_mat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
		</default>
	</default>

	<worldbody>
		<!-- TODO: set z height to be flat with ground (z=0), so we can also use a flat ground plane -->
		<!-- probably by having a ground plane as reference and then tweaking -->
		<body childclass="arena" name="base_link" pos="0 0 0">
			<body name="minimal">
			  <geom mesh="minimal" name="minimal" material="arena_mat"></geom>
			</body>
		</body>
	</worldbody>
</mujoco>
