<!-- 
    MJCF fragment for a coordinate frame with 5cm axis markers to help localize
    features in a MuJoCo simulation. Axis colors are:
    x_axis -> red
    y_axis -> green
    z_axis -> blue
 -->

<mujoco>
    <body name="ref">
        <geom name="ref:origin"
            type="sphere" size="0.005"
            rgba="1 1 1 1" contype="0" conaffinity="0" />
        <geom name="ref:x_axis"
            type="cylinder" size="0.002 0.025" pos="0.025 0 0" quat="0 0.707 0 0.707"
            rgba="1 0 0 1" contype="0" conaffinity="0" />
        <geom name="ref:y_axis"
            type="cylinder" size="0.002 0.025" pos="0 0.025 0" quat="0 0 0.707 0.707"
            rgba="0 1 0 1" contype="0" conaffinity="0" />
        <geom name="ref:z_axis"
            type="cylinder" size="0.002 0.025" pos="0 0 0.025" quat="0 0 0 1"
            rgba="0 0 1 1" contype="0" conaffinity="0" />
    </body>
</mujoco>