<mujoco model="sunriver">

  <!-- extra-short timestep to allow static equilibrium to form -->
  <option timestep="0.00001"/>

  <default>
    <geom rgba=".8 .6 .4 1"/>
  </default>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
  </asset>

  <worldbody>
    
    <light pos="0 3 3" dir="0 -1 -1" diffuse="1 1 1"/>

    <!-- infinite plane, but only drawn over square around origin at 0.1 grid size -->
    <geom type="plane" size="2 2 0.1" rgba="0.0 0.4 0 1"/>

    <!-- the spar body objects will be inserted here -->
  </worldbody>

  <!-- the tendon objects will be inserted here -->
  
</mujoco>
