<mujoco model="flat">
  <statistic center="0 0 0.1" extent="0.8"/>

  <visual>
    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <global azimuth="-130" elevation="-20"/>
    <global offwidth="1920" offheight="1080"/>
  </visual>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
      markrgb="0.8 0.8 0.8" width="300" height="300"/>
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
    <material name="sponge_mat" rgba="0.9 0.9 0.2 1" reflectance="0.1"/>
  </asset>

  <worldbody>
    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
  </worldbody>
</mujoco>