<mujoco model="scene">
    <include file="so101_new_calib.xml" />

    <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="160" 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="0.2" />
    </asset>

    <worldbody>
        <light pos="0 0 3.5" dir="0 0 -1" directional="true" />
        <geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />
    </worldbody>
</mujoco>