<mujocoinclude>
<!-- =================================================
    Model   :: Franka (MuJoCoV2.0)
    Original:: See https://github.com/vikashplus/franka_sim
====================================================== -->

    <asset>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
                width="512" height="512"/>
        <material name="MatGnd" reflectance="0." texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <worldbody>
        <!-- hack: reduce shadows, and cast them behind the robot -->
        <light castshadow="false" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="1 0 3" dir="-1 0 -3" />
        <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="1 0 3" dir="-1 0 -3" />
        <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="1 0 3" dir="-1 0 -3" />
        <geom name="ground" pos="0 0 0" size="5 5 10" material="MatGnd" type="plane" contype="1" conaffinity="1"/>
    </worldbody>
</mujocoinclude>