shadow_hand/scene_right.xml

<mujoco model="right_shadow_hand scene">

  <include file="right_hand.xml"/>

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

  <visual>
    <rgba haze="0.15 0.25 0.35 1"/>
    <quality shadowsize="8192"/>
    <global azimuth="220" elevation="-30"/>
  </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"/>
    <light pos="0.3 0 1.5" dir="0 0 -1" directional="true"/>
    <geom name="floor" pos="0 0 -0.1" size="0 0 0.05" type="plane" material="groundplane"/>
    <body name="object" pos="0.3 0 0.1">
      <freejoint/>
      <geom type="ellipsoid" size="0.03 0.04 0.02" rgba="0.5 0.7 0.5 1" condim="6" priority="1"
          friction="0.5 0.01 0.003"/>
    </body>
  </worldbody>

</mujoco>