<mujoco model="empty">
  <size njmax="795" nconmax="250" nstack="631875" />

  <!--
  <visual>
    <map fogstart="1.5" fogend="3" />
    <quality shadowsize="2048" />
  </visual>
    -->

  <default>
    <default class="viz">
      <geom margin="0.001" contype="0" conaffinity="0" group="1" type="mesh" />
    </default>
    <!-- 
    <geom solimp="0.99 0.99 0.01" solref="0.01 1" condim="6" />
         -->
    <geom solimp="0.99 0.99 0.01" solref="0.01 1" condim="4" />
    <joint damping="1." />
    <velocity ctrllimited="true" forcelimited="false" forcerange="-500 500" />
  </default>

  <worldbody>
      <!--
    <light directional="false" cutoff="90" exponent="1" diffuse="0.1 0.1 0.1" specular="0 0 0" pos="1 0 1.5" dir="-1 0 -2.5" ambient="0 0 0"/>
        -->
    <geom name="ground" type="plane" pos="0 0 -0.1" size="20 20 .05" rgba="1. 1. 1. 0.5" friction="1. 1. 1." />
    <camera name="overhead_camera" pos="0 0.0 25" quat="0.707 0 0 -0.707" />
  </worldbody>

  <compiler angle="radian" coordinate="local" meshdir="/home/michaelmcdonald/Documents/BaxterGym/baxter_gym/" strippath="false" texturedir="textures/" /><option gravity="0 0 -9.81" integrator="Euler" cone="pyramidal"  noslip_iterations="0" solver="Newton" timestep="0.002" />

  <actuator>
  </actuator>

  <sensor>
  </sensor>
</mujoco>
