<mujoco model="empty_arena">
  <compiler angle="radian" meshdir="meshes/"/>
  <option
      timestep="0.0001"
      density="0"
      iterations="100"
      solver="Newton"
      jacobian="sparse"
      cone="elliptic"
      tolerance="1e-10"
      o_margin="0.0"
      o_solref="0.000001 1"
      o_solimp="0.999 0.999 0.000001"
      noslip_iterations="0"
      noslip_tolerance="1e-8"
      mpr_iterations="50"
      mpr_tolerance="1e-6">
    <flag override="enable" />
  </option>
  <size njmax="10000" nconmax="2000" nstack="5000000"/>

  <default>
    <geom friction="0.9 0.1 0.005"/>
  </default>

  <asset>
    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
    <!-- plaster walls -->
    <texture file="../textures/cream-plaster.png" type="2d" name="tex-cream-plaster"/>
    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.1" texrepeat="3 3" texture="tex-cream-plaster" texuniform="true" />
  </asset>

  <worldbody>
    <!-- Floor -->
    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
    <!-- Walls (visual only) -->
    <geom pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_leftcorner_visual" material="walls_mat"/>
    <geom pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rightcorner_visual" material="walls_mat"/>
    <geom pos="1.25 3 1.5" quat="0.7071 0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/>
    <geom pos="1.25 -3 1.5" quat="0.7071 -0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat"/>
    <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
    <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <!-- front view -->
    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
    <!-- bird view -->
    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
    <!-- agent view -->
    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
    <!-- side view -->
    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
  </worldbody>
</mujoco>