<!-- This is the base xml for all physics simulations. Set global configs here. -->
<mujoco model="base">
  <compiler inertiafromgeom= "true" angle="radian" meshdir="meshes/" inertiagrouprange="0 0"/>
  <option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002"/>
  <size nconmax="5000" njmax="5000"/>

  <asset>
  </asset>

  <visual>
    <map znear="0.001" />
  </visual>

  <actuator>
  </actuator>

  <worldbody>
  </worldbody>

  <equality>
  </equality>
</mujoco>