<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" />
        <joint limited="true" margin="0.01" armature="0.001" damping="0.05" frictionloss="0.001" />
        <geom friction="1 0.5 0.01" margin="0.0005" density="1250" />
        <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
        <general ctrllimited="true" ctrlrange="-1 1" />
        <tendon limited="true" />
    </default>
</mujoco>
