<mujoco model="mutiagent_world">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.003" solver="PGS" iterations="1000"/>
  <!-- <option integrator="RK4" timestep="0.01" iterations="1000"/> -->
  <default>
    <joint armature="1" damping="1" limited="true"/>
  </default>
  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="1 1 1" type="skybox" width="100" />
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
    <texture builtin="checker" height="100" name="texplane" rgb1=".1 .1 .1" rgb2=".3 .3 0.3" 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=".1 .1 .1"/>
    <geom contype="1" conaffinity="1" friction="1 .1 .1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
    <geom fromto="4 -5 0  4 +5 0" name="rightgoal" rgba="0.6 0.0 0.0 1" size=".03" type="cylinder"/>
    <geom fromto="-4 -5 0  -4 +5 0" name="leftgoal" rgba="0.6 0.0 0.0 1" size=".03" type="cylinder"/>
    <body euler="0 0 0" name="ball" pos="0 0 .15">
        <joint armature="0" damping="0.001" limited="false" name="ball" pos="0 0 0" stiffness="0" type="free" />
        <geom mass="0.15" name="ball" size="0.2" type="sphere" />
    </body>
  </worldbody>
</mujoco>
