<?xml version="1.0" encoding="utf-8"?>
<mujoco model="empty-world">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
	<option integrator="RK4" timestep="0.01"/>
	<size nconmax="500" njmax="1000"/>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
	</default>
	<asset>
		<texture fileback="sunny-back.png" filedown="sunny-down.png" filefront="sunny-front.png" fileleft="sunny-left.png" fileright="sunny-right.png" fileup="sunny-up.png" type="skybox"/>
		<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8627450980392157 0.8901960784313725 0.9137254901960784" rgb2="0.9058823529411765 0.9215686274509803 0.9647058823529412" type="cube" width="127"/>
		<texture builtin="checker" height="100" name="texplane" rgb1="0.8235294117647058 0.8117647058823529 0.9450980392156862" rgb2="0.43137254901960786 0.6392156862745098 0.9019607843137255" type="2d" width="100"/>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
		<material name="geom" texture="texgeom" texuniform="true"/>
	</asset>
	<worldbody>
		<light cutoff="100" diffuse="1 1 1" dir="0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular="0.1 0.1 0.1"/>
		<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
	</worldbody>
</mujoco>