<mujoco model="arena">

<compiler coordinate='local' angle='radian' eulerseq='yxz'/>

<option timestep='0.01' viscosity='1e-3' cone='elliptic' />

<asset>

<texture type='skybox' builtin='gradient' rgb1='.4 .6 .8' rgb2='0 0 0' width='100' height='100'/>

<texture name='groundplane' type='2d' builtin='checker' rgb1='.2 .3 .4' rgb2='.1 .2 .3' width='300' height='300' mark='edge' markrgb='.8 .8 .8'/>

<material name='groundplane' texture='groundplane' texrepeat='5 5' texuniform='true' reflectance='.2'/>

</asset>

<visual>

<map znear='0.01'/>

<headlight diffuse='.6 .6 .6' ambient='.3 .3 .3' specular='0 0 0'/>

<scale forcewidth='0.01' contactwidth='0.06' contactheight='0.01' jointwidth='.01' framewidth='.01' framelength='.3'/>

</visual>

<worldbody>

<!-- Camera mirroring the position of the physical kinect above the arm. -->

<camera name='fixed_kinect' pos='0 -0.8 1.2' quat='0.99 0.16 0 0' fovy='50'/>

<!-- View of the person sitting behind computer operating the robot. -->

<camera name='fixed_viewer' pos='0 -1.5 0.5' quat='0.7 0.7 0 0'/>

<!-- Close-up camera for the standard workspace -->

<camera name='fixed_camera_1' pos='0 -0.7 0.1' quat='0.7 0.7 0 0'/>

<camera name='fixed_camera_2' pos='0 -1.5 0.5' quat='0.7 0.7 0 0'/>

<camera name='fixed_camera_3' pos='0 -1.1 0.8' quat='0.93 0.5 0 0'/>

<geom name='ground' type='plane' pos='0 0 0.06' size='1 1 1' material='groundplane' margin='0.1' gap='0.1' />

<light directional='false' diffuse='.7 .7 .7' pos='0 0 1.5' dir='0 0 -1' specular='.3 .3 .3' castshadow='true'/>

</worldbody>

</mujoco>