scene_mjx.xml

<mujoco model="barkour vB scene">
  <include file="barkour_vb_mjx.xml"/>

  <statistic center="0 0 0.1" extent="0.8"/>

  <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="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"/>
    <camera name="default" pos="0.846 -1.465 0.916" xyaxes="0.866 0.500 0.000 -0.171 0.296 0.940"/>
    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
  </worldbody>

  <keyframe>
    <key name="home"
      qpos="0 0 0.28
            1 0 0 0
            0.0 0.5 1.0
            0.0 0.5 1.0
            0.0 0.5 1.0
            0.0 0.5 1.0"
      ctrl="0.0 0.5 1.0
            0.0 0.5 1.0
            0.0 0.5 1.0
            0.0 0.5 1.0"/>
  </keyframe>
</mujoco>