From 8293707d421cfa77d25c40f2fbdbe4e2135e9d4e Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
 <30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 6 Oct 2024 22:44:31 +0300
Subject: [PATCH] Create scene_arm.xml

---
 boston_dynamics_spot/scene_arm.xml | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)
 create mode 100644 boston_dynamics_spot/scene_arm.xml

diff --git a/boston_dynamics_spot/scene_arm.xml b/boston_dynamics_spot/scene_arm.xml
new file mode 100644
index 00000000..73c5ae77
--- /dev/null
+++ b/boston_dynamics_spot/scene_arm.xml
@@ -0,0 +1,23 @@
+<mujoco model="spot with arm scene">
+  <include file="spot_arm.xml"/>
+
+  <statistic center="0.15 0.1 0.38" extent=".8" meansize="0.05"/>
+
+  <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="220" elevation="-10"/>
+    <quality shadowsize="8192"/>
+  </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>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+  </worldbody>
+</mujoco>