<mujoco>
  <include file="./common/materials.xml"/>
  <option  gravity="0 0 -9.8" timestep="0.001"/>
  <default>
    <default class="link">
      <geom type="sphere" pos="0 0 -4" quat="0 0 0 1" size=".5" rgba=".2 .2 .2 1" solref="1 0" hard="true" condim="1"/>
      <joint type="hinge" axis="0 1 0" />
    </default>
    <default class="line">
      <geom type="box" mass="0" pos="0 0 -2" contype="0" conaffinity="0" size="0.01 0.01 2" rgba="1 0 0 1"/>
    </default>
  </default>

  <visual>
    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <global azimuth="-130" elevation="-20"/>
  </visual>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.4314 0.5294 0.6431" rgb2="0.8157 0.8549 0.9059"
      markrgb="0.8 0.8 0.8" width="300" height="300"/>
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="1 1" reflectance="0.2"/>
  </asset>


  <worldbody>
    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
    <geom name="floor" size="0 0 0.05" type="plane" material="motphys-ground"/>
    <geom name="top" size="2.5 0.3 0.3" pos="2 0 7.3" type="box"/>

    <body pos="0 0 7" euler="0 90 0" childclass="link">
      <joint name="ball"/>
      <site pos="0 0 -4" name="A"/>
      <geom />
      <geom class="line"/>
    </body>
    <replicate count="4" offset="1 0 0">
      <body pos="1 0 7" childclass="link">
        <joint name="ball"/>
        <geom />
        <geom class="line"/>
      </body>    
    </replicate>
  </worldbody>
</mujoco>