<mujoco>
	<worldbody>
        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>	
		<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
		<body pos="0 0 1">
			<joint type="free"/>
			<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
		</body>
	</worldbody>
</mujoco>