<?xml version="1.0" ?>

<mujoco>
  <compiler angle="radian" coordinate="local"/>
  <option>
    <flag gravity="disable"/>
  </option>
  <contact>
    <exclude body1="nail_base" body2="nail"/>
  </contact>
  <default>  
    <default class="visual">
      <geom contype="0" conaffinity="0"/>
    </default>
    <default class="collision">
      <geom contype="1" conaffinity="1"/>
    </default>
    <site rgba="1 0 0 .5"/>
  </default> 

  <worldbody>
    <include file="nail_collision.xml"/>
  </worldbody>
</mujoco>
