<mujoco>
  <include file="./common/materials.xml"/>
  <option timestep="0.01"/>
  
  <worldbody>

    <light name="light" pos="0 0 3"/>
    <camera name="fixed" pos="0 -3 3" xyaxes="1 0 0 0 1 1"/>
    <geom name="floor" type="plane" size="5 5 0.1" pos="0 0 0" rgba="0.4 0.4 0.4 1" material="motphys-ground"/>

    <body name="base" pos="0 0 0.1">
      <body name="arm_A" pos="0 0 0"> 
        <joint name="joint_A" type="hinge" axis="0 0 1" limited="true" range = "-90 90"/>
        <geom name="cube_A" type="box" size="0.2 0.2 0.8" pos="0 0 0.8" rgba="1 0 0 1"/>
        
        <body name="arm_B" pos="0 0 1.7">  
          <joint type="ball" name="joint_B" limited="true" range = "0 30"/> 
          <geom name="cube_B" type="box" size="0.15 0.15 0.4" pos="0 0 0.4" rgba="0 0 1 1"/>
        </body>

        <body name="sphere" pos="0 0 1.6">  
          <geom name="sphere" type="sphere" size="0.15" pos="0 0 0" rgba="0 1 1 1"/>
        </body>

      </body>
    </body>
  </worldbody>
</mujoco>