<mujoco model="glass">
    <compiler angle="degree" inertiafromgeom="false"/>
    <default>
        <joint armature="1" damping="1" limited="true"/>
        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
    </default>
    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
        <!-- <flags solverstat="enable" energy="enable"/>-->
    </option>
    <size nkey="5" nuser_geom="1"/>
    <visual>
        <map fogend="5" fogstart="3"/>
    </visual>
	<worldbody>
		<body name="shield" pos="0 0 1.6">
			<geom name="glass" pos="0.25 0.25 0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="-0.25 0.25 0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="0.25 -0.25 0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="-0.25 -0.25 0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="0.25 0.25 -0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="-0.25 0.25 -0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="0.25 -0.25 -0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			<geom name="glass" pos="-0.25 -0.25 -0.25" size="0.005" rgba="0.5 0.5 0.5 0.5" type="sphere">
			    <inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
			</geom>
			
		</body>
	</worldbody>
</mujoco>