<mujoco model="LQR">
  <include file="./common/skybox.xml"/>
  <include file="./common/visual.xml"/>
  <include file="./common/materials.xml"/>

  <option timestep=".03"/>

  <default>
    <joint type="slide" axis="0 1 0"/>
    <geom type="sphere" size=".1" material="self"/>
    <site size=".01"/>
    <tendon width=".02" material="self"/>
  </default>

  <option>
    <flag constraint="disable"/>
  </option>

  <worldbody>
    <light name="light" pos="0 0 2"/>
    <camera name="cam0" pos="-1.428 -0.311 0.856" xyaxes="0.099 -0.995 0.000 0.350 0.035 0.936"/>
    <camera name="cam1" pos="1.787 2.452 4.331" xyaxes="-1 0 0 0 -0.868 0.497"/>
    <geom name="floor" size="4 1 .2" type="plane" material="grid"/>
    <geom name="origin" pos="2 0 .05" size="2 .003 .05" type="box" rgba=".5 .5 .5 .5"/>
  </worldbody>
</mujoco>
