<mujocoinclude>
  <option timestep="2.375e-05" integrator="discrete" cone="elliptic" solver="CG" iterations="100" tolerance="1e-8" ls_iterations="50" ls_tolerance="0.01" jacobian="auto" impratio="1" noslip_iterations="0" noslip_tolerance="1e-6" ccd_iterations="35" ccd_tolerance="1e-6" gravity="0 0 -9.81" viscosity="0" density="0">
    <flag warmstart="enable" refsafe="enable" energy="enable" />
  </option>
  <default>
    <geom condim="6" friction="0.8 0.005 0.0001" solref="0.0002 1" solimp="0.99 0.999 0.0001 0.5 2" margin="0" gap="0" priority="0" solmix="1" />
    <joint damping="0" armature="0" frictionloss="0" />
  </default>
</mujocoinclude>