# Scene with An Unitree Go1 and 3D Mesh of a Stair Way

This tutorial shows you how to setup a scene with the following components:
1. A Unitree Go1 robot
2. A 3D mesh of a stair way
3. A fog effect that makes the part of the scene that is far away darker in color.
4. Fixtures of two movable lights. One [AmbientLight](https://threejs.org/docs/#api/en/lights/AmbientLight) and one [PointLight](https://threejs.org/docs/#api/en/lights/PointLight).

![Unitree Go1 Robot in front of a flight of stairs](figures/go1_stairs.png)

```python
import math
from asyncio import sleep

from vuer import Vuer, VuerSession
from vuer.schemas import Scene, Urdf, Movable, PointLight, AmbientLight, Obj, Plane, Fog

pi = 3.1415

app = Vuer(static_root="assets")


@app.spawn(start=True)
async def main(app: VuerSession):
    # Note: you can only use `set` operator with Scene objects. This is a special operator.
    app.set @ Scene(
        rawChildren=[
            Plane(args=[100, 100], position=[0, 0, -0.15], rotation=[0, 0, 0], key="ground", materialType="standard",
                  material={"color": "#eee"}),
            Fog(color="black", near="3", far="7"),
            AmbientLight(intensity=1),
            Movable(PointLight(intensity=1), position=[0, 0, 2]),
            Movable(PointLight(intensity=3), position=[0, 1, 2]),
        ],
        up=[0, 0, 1]
    )
    await sleep(0.1)

    app.upsert @ Obj(
        src="http://localhost:8012/static/textured.obj",
        mtl="http://localhost:8012/static/textured.mtl",
        position=[1.5, -3, 0.727],
        rotation=[3.1415 / 2, 0, 0],
        key="scene",
    )

    i = 0
    while True:
        app.upsert @ Urdf(
            src="http://localhost:8012/static/go1/urdf/go1.urdf",
            jointValues={
                'FL_hip_joint': -0.1,
                'RL_hip_joint': -0.1,
                'FR_hip_joint': 0.1,
                'RR_hip_joint': 0.1,
                "FL_thigh_joint": 0.785,
                "RL_thigh_joint": 0.785,
                "FR_thigh_joint": 0.785 - 0.25 * math.sin(i * 0.1),
                "RR_thigh_joint": 0.785,
                "FL_calf_joint": -1.57,
                "RL_calf_joint": -1.57,
                "FR_calf_joint": -2 + 0.5 * math.sin(i * 0.1),
                "RR_calf_joint": -1.57,
            },
            position=[0, 0, 0.33],
            key="robot",
        )
        await sleep(0.016)
        i += 1
```

Now, if your script runs correctly, the robot should show up in the following view:

<iframe src="https://vuer.ai/?ws=ws%3A%2F%2Flocalhost%3A8012&scene=3gAIqGNoaWxkcmVukd4ABahjaGlsZHJlbpHeAAWoY2hpbGRyZW6Qo3RhZ6RVcmRmo2tleaVyb2JvdKNzcmPZLmh0dHA6Ly9sb2NhbGhvc3Q6ODAxMi9zdGF0aWMvbWluaV9jaGVldGFoLnVyZGaram9pbnRWYWx1ZXPeAAysRkxfaGlwX2pvaW50y7%2FJmZmgAAAArFJMX2hpcF9qb2ludMu%2FyZmZoAAAAKxGUl9oaXBfam9pbnTLP8mZmaAAAACsUlJfaGlwX2pvaW50yz%2FJmZmgAAAArkZMX3RoaWdoX2pvaW50y7%2FpIcrAAAAArlJMX3RoaWdoX2pvaW50y7%2FpIcrAAAAArkZSX3RoaWdoX2pvaW50y7%2F6Up4gAAAArlJSX3RoaWdoX2pvaW50y7%2FpIcrAAAAArUZMX2NhbGZfam9pbnTLP%2FkhysAAAACtUkxfY2FsZl9qb2ludMs%2F%2BSHKwAAAAK1GUl9jYWxmX2pvaW50y0AB1y8gAAAArVJSX2NhbGZfam9pbnTLP%2FkhysAAAACjdGFnp01vdmFibGWja2V5oTaocG9zaXRpb26TAADLP9MzM0AAAAClc2NhbGXLP9mZmaAAAACjdGFnpVNjZW5lo2tleaIxMKJ1cJMAAAGkZ3JpZMOrcmF3Q2hpbGRyZW6S3gAEqGNoaWxkcmVukKN0YWesQW1iaWVudExpZ2h0o2tlebVkZWZhdWx0X2FtYmllbnRfbGlnaHSpaW50ZW5zaXR5Ad4ABahjaGlsZHJlbpCjdGFnsERpcmVjdGlvbmFsTGlnaHSja2V5uWRlZmF1bHRfZGlyZWN0aW9uYWxfbGlnaHSpaW50ZW5zaXR5AaZoZWxwZXLDrGh0bWxDaGlsZHJlbpCqYmdDaGlsZHJlbpPeAAOoY2hpbGRyZW6Qo3RhZ6pHcmFiUmVuZGVyo2tleaE33gADqGNoaWxkcmVukKN0YWevUG9pbnRlckNvbnRyb2xzo2tleaE43gADqGNoaWxkcmVukKN0YWekR3JpZKNrZXmhOQ%3D%3D" width="100%" height="600px" frameborder="0"></iframe>