diff --git a/roboimi/assets/models/manipulators/DianaMed/empty_world.xml b/roboimi/assets/models/manipulators/DianaMed/empty_world.xml
index a8a1c12..0ca95f8 100644
--- a/roboimi/assets/models/manipulators/DianaMed/empty_world.xml
+++ b/roboimi/assets/models/manipulators/DianaMed/empty_world.xml
@@ -10,7 +10,7 @@
     </option>
     
     <visual>
-        <map force="0.1" zfar="30"/>
+        <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"/>
@@ -26,7 +26,7 @@
 
     <worldbody>
         <!-- Floor -->
-        <geom name="floor" condim="3" contype="1" conaffinity="1" material="groundplane" pos="0 0 0" size="200 200 .125" type="plane" priority="1"/>
+        <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>