common.xml

<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>
        <default class="grab">
            <joint limited="false" margin="0.01" armature="0.001" damping="0" frictionloss="0.001" />
            <geom type="mesh"  rgba=".93 .99 .97 1.0"/>
            <site size="0.005 0 0" rgba="0.4 0.9 0.4 1" />
            <default class="object_col">
                <geom type="mesh" density="1250" contype="1" conaffinity="1" 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="10" offheight="720" offwidth="1280"/>
        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
        <map fogstart="1.5" fogend="5" force="0.1" znear="0.1"/>
        <quality shadowsize="4096" offsamples="16"/>
    </visual>

    <worldbody>
        <geom type="plane" size="4 4 .1" pos="0 0 0" rgba=".1 .1 .1 1"/>
        <light directional="false" dir="0 1 -1" pos="0 -.3 .3" diffuse=".4 .6 .8" specular="0.3 0.3 0.3"/>
    </worldbody>
</mujoco>