data/scenes/default_scene.xml

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

  <statistic center="0 0 .75" extent="1.2" 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="-120" elevation="-20"/>
  </visual>

  <asset>
    <material name="floor" rgba=".1 .1 .1 1" reflectance="0.1"/>
    <texture type="2d" name="wood" file="wood.png"/>
    <material name="wood" texture="wood"/>
    <material name="object" rgba=".2 .2 .2 1"/>
    <texture type="skybox" builtin="gradient" rgb1="0.44 0.80 1.00" rgb2="1 1 1" width="512" height="3072"/>
  </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="floor"/>
    <body name="table" pos="0 -1 .24">
      <geom type="box" size=".6 .5 .24" mass="1" material="wood"/>
    </body>
    <body name="object1" pos="-.02 -0.55 .6">
      <freejoint/>
      <geom type="box" size=".02 .04 .04" mass=".5" rgba=".2 .2 .5 1"/>
    </body>
    <body name="object2" pos=".08 -0.55 .6">
      <freejoint/>
      <geom type="cylinder" size=".02 .04 .04" mass=".5" rgba=".8 .2 .2 1"/>
    </body>
  </worldbody>
</mujoco>