<mujoco>
    <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
    <option integrator="RK4" timestep="0.03"/>
    <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>
</mujoco>
