<mujoco model="ur5e scene">
    <include file="ur5e.xml"/>

    <statistic center="0.3 0 0.4" extent="0.8"/>

    <visual>
        <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0"/>
        <rgba haze="0.15 0.25 0.35 1"/>
        <global azimuth="120" 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 1.5" dir="0 0 -1" directional="true"/>
        <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>

        <body name="world_frame" pos="0 0 0">
            <geom name="X" type="cylinder" size="0.005" fromto="0 0 0 0.3 0 0" rgba="1 0 0 1" contype="0"
                  conaffinity="0"/>
            <geom name="Y" type="cylinder" size="0.005" fromto="0 0 0 0 0.3 0" rgba="0 1 0 1" contype="0"
                  conaffinity="0"/>
            <geom name="Z" type="cylinder" size="0.005" fromto="0 0 0 0 0 0.3" rgba="0 0 1 1" contype="0"
                  conaffinity="0"/>
        </body>

        <body name="red_box" pos="-0.1 0.5 0.1" euler="0 0 45">
            <joint name="red_box_joint" type="free"/>
            <geom name="red_box_geom" type="box" size="0.1 0.1 0.1" rgba="1 0 0 1" mass="1.0"/>
        </body>

    </worldbody>
</mujoco>
