<?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>
