<mujoco>
    <compiler angle="radian" inertiafromgeom="true"/>
    <default>
        <joint damping="1"/>
        <geom contype="1" conaffinity="1" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
    </default>
    <asset>
        <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0"/>
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4"
                 rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100"/>
        <material name='MatPlane' texture="texplane" shininess="1" texrepeat="30 30" specular="1" reflectance="0.5"/>
        <material name='geom' texture="texgeom" texuniform="true"/>
    </asset>

    <option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
    <worldbody>
        <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3"
               dir="-0 0 -1.3"/>
        <geom name='floor' material="MatPlane" pos='0 0 0' size='40 40 40' type='plane' conaffinity='1'
              rgba='0.8 0.9 0.8 1' condim='3'/>

        <!-- Arm -->
        <body name="torso" pos="0 0 0">
            <joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
            <joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
            <geom fromto="0 0 0 0 0 0.2" size="0.25" type="cylinder"/>
            <geom pos=".15 0 0.25" size="0.1 0.1 0.05" type="box"/>
        </body>

    </worldbody>
    <actuator>
        <motor gear="100.0" joint="slider1"/>
        <motor gear="100.0" joint="slider2"/>
        <motor gear="100.0" joint="rot"/>
    </actuator>

</mujoco>
