<mujoco>
    <compiler angle="radian" />

    <asset>
        <material name="MatObject" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.9 0.7 0.5 1" />
    </asset>

    <default>
        <!-- <mesh scale="0.001 0.001 0.001" /> -->
        <default class="grab">
            <joint limited="false" margin="0.01" armature="0.001" damping="0" frictionloss="0.001" />
            <geom type="mesh"  rgba=".8 .2 .2 1.0"/>
            <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
            <!-- <general ctrllimited="true" ctrlrange="-1 1" /> -->
            <!-- <tendon limited="true" /> -->
            <default class="object_col">
                <geom type="mesh" density="1250" friction="1 0.5 0.01" margin="0.0005" condim="4" rgba=".3 .4 .5 1" group="3"/>
            </default>
        </default>
    </default>

    <visual>
        <!-- free camera attributes -->
        <global fovy="25" />
    </visual>

    <worldbody>
        <geom type="plane" size="1 1 .1" pos="0 0 -.06"/>
    </worldbody>
</mujoco>