<mujoco model="arena">
  <compiler angle="radian"/>
  <asset>
    <texture type='skybox' builtin='gradient' rgb1='.4 .6 .8' rgb2='0 0 0' width='100' height='100'/>
    <texture name='groundplane' type='2d' builtin='checker' rgb1='.2 .3 .4' rgb2='.1 .2 .3' width='300' height='300' mark='edge' markrgb='.8 .8 .8'/>
    <material name='groundplane' texture='groundplane' texrepeat='5 5' texuniform='true' reflectance='.2'/>
  </asset>

  <!-- Always initialize the free camera to point at the origin. -->
  <statistic center='0 0 0'/>
  <worldbody>
    <!-- View of the person sitting behind computer operating the robot. -->
    <camera name='fixed_viewer' pos='0 -1.5 0.5' quat='0.7 0.7 0 0'/>
    <geom name='ground' type='plane' size='2 2 2' material='groundplane'
        friction='0.4'/>
    <light directional='false' diffuse='.7 .7 .7' pos='0 0 1.5' dir='0 0 -1' specular='.3 .3 .3' castshadow='true'/>
  </worldbody>
</mujoco>
