data-scripts/cube_toss.xml

<mujoco model="Cube">
	<compiler inertiafromgeom="true" angle="degree" />

    <option timestep = "0.00674">
        <flag refsafe = "disable" />
    </option>

	<asset>
		<texture name="grid" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .15 .2" width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
    	<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".3"/>  
	</asset>

	<worldbody>
		<geom name="floor" pos="0 0 -1.0" size=".0 .0 .01" type="plane" material="grid" />

        <light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
        <light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>  

        <body name="cube" pos="0.1 -0.1 0.1">
        	<inertial pos="0.0 0.0 0.0" mass="0.37" fullinertia="0.0006167 0.0006167 0.0006167 0 0 0"/>
        	<freejoint name="cube_board"/>
        	<geom name="cube_geom" type="box" size="0.05 0.05 0.05" quat="1 0 0 0" friction="0.3 0.005 0.0001" rgba="0 1 0 1.0"  /> 

        </body>

        <body name="board" pos="0.0 0.0 -0.3">
        	<geom size="2.0 2.0 0.3" rgba="1 0 0 1" type="box" solref = "-300.0 -36.02" friction="1.0 0.005 0.0001"/> <!-- friction="0.3 0.005 0.0001" -->
        </body>

        <camera name="cam1" mode="targetbody" target="cube" pos="-0.5 -0.5 0.1" /><!-- euler="90 0 45" -->
	</worldbody>

</mujoco>