<mujoco model="example">
    <compiler coordinate="global"/>
    <default>
        <geom rgba=".8 .6 .4 1"/>
    </default>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1"
            width="256" height="256"/>
        <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
    </asset>
    <worldbody>
        <light cutoff="100" diffuse="1 1 1" directional="true" exponent="1" specular=".1 .1 .1"/>
        <light directional="false" dir="4 4 4" pos="4 4 4" />
        <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
    </worldbody>
</mujoco>
