<mujoco>
  <!--<joint damping="0.2" stiffness="0" armature=".01" user="0"/>-->
  <geom solref="0.008 1" solimp="0.99 0.99 0." />
  <default class="viz">
    <geom contype="0" conaffinity="0" group="1" type="mesh"/>
  </default>
  <motor ctrllimited="true" ctrlrange="-1 1"/>
  <position ctrllimited="true"/>
  <default class='0'>
    <geom friction="1 0.005 0.001" rgba=".75 .6 .5 1" contype="1" conaffinity="0"/>
  </default>
  <default class='1'>
    <geom friction="1 0.005 0.001" rgba=".7 .6 .55 1" contype="1" conaffinity="0"/>
  </default>
  <default class='arm'>
    <!--<joint damping="5"/>-->
  </default>
</mujoco>
