<?xml version="1.0" ?>

<mujoco>
    <compiler angle="radian" coordinate="local"/>
<!--    <option>-->
<!--        <flag gravity="disable"/>-->
<!--    </option>-->
    <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>
        <geom type="plane" size="1 1 .1"/>
        <body pos="0 0 1">
            <joint type="free"/>
            <geom type="sphere" size="0.1" solref="-10000 -10"/>
        </body>
    </worldbody>
</mujoco>
