<mujoco>
  <include file="./common/skybox.xml"/>
  <include file="./common/visual.xml"/>
  <include file="./common/materials.xml"/>
  <size njmax="8000" nconmax="4000"/>
    <default class="main">
        <geom rgba="255 255 255 1"/>
        <default class="sub">
            <geom rgba="0 1 0 1"/>
        </default>
    </default>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <texture name="texcorner4" type="2d" file="/home/wilson/dm_control/dm_control/suite/skin_colormap.png"/>
        <texture name="texcorner" type="2d" file="/home/wilson/dm_control/dm_control/suite/skin_colormap.png"/>
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name="matcorner" texture="texcorner"/>
        <material name="matcorner4" texture="texcorner4"/>
    </asset>
  <worldbody>

    <light name="light" pos="0 0 1"/>
    <camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/>
       <geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="site"/>
    <geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0"  size=".02 .3 .02" material="decoration"/>
    <geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0"  size=".3 .02 .02" material="decoration"/>
    <geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0"  size=".02 .3 .02" material="decoration"/>
    <geom name="wall_neg_y" type="plane" pos="0 .3 .02" zaxis="0 -1 0"  size=".3 .02 .02" material="decoration"/>

    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1" directional="true" exponent="1" pos="0 0 0.0" specular=".1 .1 .1"/>
    <geom rgba="0 0 0 0.1" conaffinity="1" density='0.' contype="1" condim="1" name="table" pos="0 0.0 0." size="2.8 2.8 0.1" type="plane" />

    <body name="B3_5" pos="0 0 0.1">
      <camera name="cam0" pos="0 -0.3 0.3" xyaxes="1 0 0 0 0.7 0.7"/>
      <freejoint name="r1"/>
      <composite type="cloth" count="9 9 1" spacing="0.03" flatinertia="0.01">
        <joint kind="main" damping="0.002"/>
        <skin material="matcorner4" texcoord="true" inflate="0.005" subgrid="2"/>

        <geom type="capsule" size="0.0075 0.005" rgba=".8 .2 .1 1"/>
      </composite>
    </body>

  </worldbody>
  <sensor>

  </sensor>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="5.0" joint="r1"/>
  </actuator>

</mujoco>
