<mujoco model="myosuite_scene">
<!-- =================================================
    Copyright 2022 Vikash Kumar
    Model   :: MyoSuite Scene (MuJoCoV2.0)
    Author  :: Vikash Kumar (vikashplus@gmail.com)
    Details :: https://github.com/vikashplus
    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
    <!-- load texture and msh files -©vk©-->

    <compiler angle="radian" meshdir=".." texturedir=".."/>
    <asset>
        <!-- Scene -©vk©-->
        <texture name="textscene" type="2d" file="../myo_sim/scene/myosuite_scene.png"/>
        <material name="matscene" texture="textscene"/>
        <mesh name="meshscene" file="../myo_sim/scene/myosuite_scene_noFloor.msh" scale=".01 .01 .01"/>

        <!-- Floor -©vk©-->
        <texture name="texfloor" type="2d" height="1" width="1" file="../myo_sim/scene/floor0.png"/>
        <material name="matfloor" reflectance="0.01" texture="texfloor" texrepeat="1 1" texuniform="true"/>

        <!-- Logo -©vk©-->
        <texture name="textlogo" type="2d" file="../myo_sim/scene/myosuite_logo.png"/>
        <mesh name="logo" file="../myo_sim/scene/myosuite_logo.msh" scale="1 1 1"/>
        <material name="matlogo" texture="textlogo"/>

        <!-- <mesh name="human" file="../myo_sim/body/Geometry/human_lowpoly.stl" scale="1 1 1"/> -->
    </asset>

    <statistic extent="5" center="0 -1 1"/>

    <visual>
        <scale light=".05" framewidth=".005"/>
        <headlight ambient=".5 .5 .5" diffuse="0.50 0.50 0.50" specular="0.50 0.50 0.50"/>
        <global elevation="-15"/>
        <rgba actuator='.7 .4 .4 1' actuatorpositive='1 0 0 1' actuatornegative='.175 .1 .1 1'/>
    </visual>


    <!-- Add files to the world -©vk©-->
    <worldbody>
        <!-- indoor lights -©vk©-->
        <light directional="false" diffuse=".5 .5 .5" specular="0.25 0.25 0.25" pos="0 -3 3" dir="0 1 -1" mode="trackcom"/>
        <camera name="side_view" pos="-3 0 2.25" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
        <camera name="front_view" pos="0 -3 2.25" xyaxes="1 0 0 0 1 2" mode="trackcom"/>


        <geom name="floor" pos="0 0 -.4" size="7 7 .1" conaffinity="1" contype="1" type="plane" material="matfloor" condim="3"/>
        <geom type="mesh" mesh="meshscene" material="matscene" pos="0 0 -.41326" euler="0 0 0"  conaffinity="0" contype="0"/>
        <geom type="cylinder" pos="0 0 -.190" size="1.05 .205" contype="1" conaffinity="1" group="4"/>
        <geom type="mesh" mesh="logo" material="matlogo" group="1" conaffinity="0" contype="0" euler="1.57 0 0" pos="0 6.95 2.1"/>

        <!-- <geom type="box" size=".01 .01 0.85" pos="0 0 0.85"/> -->
        <!-- <geom type="mesh" mesh="human" rgba=".8 .8 .8 1" euler="0 0 3.14" pos="0 0 0"/> -->
    </worldbody>
</mujoco>