data/model/plugin/sdf/scene.xml

<!-- Copyright 2021 DeepMind Technologies Limited

     Licensed under the 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

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     distributed under the License is distributed on an "AS IS" BASIS,
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<mujoco>
  <compiler texturedir="asset"/>

  <statistic meansize=".05"/>

  <visual>
    <rgba haze="0.15 0.25 0.35 1"/>
    <map stiffness="700" shadowscale="0.5" fogstart="1" fogend="15" zfar="40" haze="1" shadowclip="3"/>
  </visual>

  <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"/>

    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
  </asset>

  <worldbody>
    <light directional="true" diffuse=".8 .8 .8" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
    <geom name="ground" type="plane" pos="0 0 -.02" size="10 10 .01" material="matplane" condim="1"/>
  </worldbody>
</mujoco>