<mujoco model="empty_world">
<!--    <compiler angle="radian"/>-->
<!--    <option timestep="0.0005" integrator="RK4" gravity="0 0 -9.81" impratio="10" apirate="1000" tolerance="1e-6" >-->
<!--        <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/>-->
<!--    </option>-->
    <compiler angle="radian" autolimits="true"/>

    <option timestep="0.0005" integrator="RK4" gravity="0 0 -9.81" impratio="20" apirate="1000" tolerance="1e-6">
        <flag contact="enable" energy="enable" gravity="enable"/>
    </option>
    
    <visual>
        <map force="0.1" zfar="4"/>
        <rgba haze="0.15 0.25 0.35 1"/>
        <!-- <rgba frustum="1.0 1.0 0.0 0.2"/> -->
        <quality shadowsize="4096"/>
        <headlight ambient="0.01 0.01 0.01"/>
        <global offwidth="800" offheight="800"/>
        <scale frustum='3'/>
    </visual>

    <asset>
        <texture name="groundplane" type="2d" 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" reflectance="0.2" shininess="0.0" specular="0.0" texrepeat="5 5" texture="groundplane" texuniform="true"/>
    </asset>

    <worldbody>
        <!-- Floor -->
        <geom name="floor" condim="3" contype="1" conaffinity="1" material="groundplane" pos="0 0 0" size="4 4 .125" type="plane" priority="1"/>
        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
        <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
    </worldbody>
</mujoco>

