The environment has a couple of issues that would be useful to solve:
It spawns away from centre and offset in z (floating in the air), can we translate it somehow?
The real time factor in an empty environment with base tiago is ~0.6, in the environment it is 0.1. Can we do something to improve this? (e.g. simplify the model using basic shapes)
The environment has a couple of issues that would be useful to solve: