<mujocoinclude>
	<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="0.5" texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <worldbody>
        <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="1  1 3" dir="-1 -1 -3"/>
        <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="1 -1 3" dir="-1 1 -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>