<mujoco model="wave_3">
  <!-- Terrain Type: wave, Level: 3, Wave amplitude: 0.0600 -->
  <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" />
  </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="0.0" />
    <hfield name="wave_hfield" file="wave.png" size="5 5 0.24 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" />
    <geom type="hfield" hfield="wave_hfield" pos="5 0 0" rgba="0.5 0.5 0.5 1" />
  </worldbody>
</mujoco>
