<?xml version="1.0" ?>

<mujoco>
    <compiler angle="radian" coordinate="local" meshdir="meshes/"/>

    <default>
        <joint damping="0.5"/>
        <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>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
    </asset>

    <worldbody>
        <light pos="0 0 1000" castshadow="false"/>
        <geom type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>

        <body pos="0 0 0">
            <include file="hole/polyhedral_hole_inner=0-006856_outer=0-05_height=0-05_num_facets=16_id=090.xml"/>
        </body>
        <body pos="0 .15 0">
            <include file="hole/polyhedral_hole_inner=0-006967_outer=0-05_height=0-05_num_facets=16_id=080.xml"/>
        </body>
        <body pos="0 .3 0">
            <include file="hole/polyhedral_hole_inner=0-007172_outer=0-05_height=0-05_num_facets=16_id=070.xml"/>
        </body>
        <body pos="0 .45 0">
            <include file="hole/polyhedral_hole_inner=0-007553_outer=0-05_height=0-05_num_facets=16_id=060.xml"/>
        </body>
        <body pos="0 .6 0">
            <include file="hole/polyhedral_hole_inner=0-008257_outer=0-05_height=0-05_num_facets=16_id=050.xml"/>
        </body>
        <body pos="0 .75 0">
            <include file="hole/polyhedral_hole_inner=0-009560_outer=0-05_height=0-05_num_facets=16_id=040.xml"/>
        </body>
        <body pos="0 .9 0">
            <include file="hole/polyhedral_hole_inner=0-011973_outer=0-05_height=0-05_num_facets=16_id=030.xml"/>
        </body>
        <body pos="0 1.05 0">
            <include file="hole/polyhedral_hole_inner=0-016438_outer=0-05_height=0-05_num_facets=16_id=020.xml"/>
        </body>
        <body pos="0 1.2 0">
            <include file="hole/polyhedral_hole_inner=0-024703_outer=0-05_height=0-05_num_facets=16_id=010.xml"/>
        </body>

        <body pos="0 1.35 0">
            <include file="hole/polyhedral_hole_inner=0-040000_outer=0-05_height=0-05_num_facets=16_id=000.xml"/>
        </body>
    </worldbody>
</mujoco>
