<!-- Quadruped-specific materials that extend the shared env visuals. -->
<mujoco>
  <asset>
    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
    <texture name="motphys-ground" type="2d" file="../../common/motphys-ground.png"/>
    <material name="motphys-ground" texture="motphys-ground" texuniform="true" texrepeat="0.4 0.4"/>
    <material name="self" rgba=".7 .5 .3 1"/>
    <material name="self_default" rgba=".7 .5 .3 1"/>
    <material name="self_highlight" rgba="0 .5 .3 1"/>
    <material name="effector" rgba=".7 .4 .2 1"/>
    <material name="effector_default" rgba=".7 .4 .2 1"/>
    <material name="effector_highlight" rgba="0 .5 .3 1"/>
    <material name="decoration" rgba=".3 .5 .7 1"/>
    <material name="eye" rgba="0 .2 1 1"/>
    <material name="target" rgba=".6 .3 .3 1"/>
    <material name="target_default" rgba=".6 .3 .3 1"/>
    <material name="target_highlight" rgba=".6 .3 .3 .4"/>
    <material name="site" rgba=".5 .5 .5 .3"/>
  </asset>
</mujoco>
