<mujoco>
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.02"/>
  <default>
    <joint armature="0" damping="0" limited="false"/>
    <geom conaffinity="0" condim="3" density="100" friction="1 0.5 0.5" margin="0" rgba="0.8 0.6 0.4 1"/>
  </default>
  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0 0 0" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
    <material name="geom" texture="texgeom" texuniform="true"/>
  </asset>
  <worldbody>

    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>

    <body name="torso" pos="0 0 0">
      <geom name="pointbody" pos="0 0 0.5" size="0.5" type="sphere"/>
      <geom name="pointarrow" pos="0.6 0 0.5" size="0.5 0.1 0.1" type="box"/>
      <joint axis="1 0 0" name="ballx" pos="0 0 0" type="slide"/>
      <joint axis="0 1 0" name="bally" pos="0 0 0" type="slide"/>
      <joint axis="0 0 1" limited="false" name="rot" pos="0 0 0" type="hinge"/>
    </body>

    <body name="target" pos="0 0 0">
        <geom conaffinity="0" contype="0" pos="0 0 0.05" density="0.001" size="0.5 0.5 0.5" rgba="0. 1. 0. 1" type="box" />
    </body>

    <!-- bounding walls -->
    <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="10.0 0.05 0.5" name="wall0" conaffinity="1" pos="0 10.0 0.5" mass="1000"/>
    <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="10.0 0.05 0.5" name="wall1" conaffinity="1" pos="0 -10.0 0.5" mass="1000"/>
    <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.05 9.95 0.5" name="wall2" conaffinity="1" pos="10.0 0.0 0.5" mass="1000"/>
    <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.05 9.95 0.5" name="wall3" conaffinity="1" pos="-10.0 0.0 0.5" mass="1000"/>
    <!-- bounding walls -->

  </worldbody>
  <actuator>
    <!-- Those are just dummy actuators for providing ranges -->
    <position ctrllimited="true" ctrlrange="-10 10" joint="ballx"/>
<!--     <motor ctrllimited="true" ctrlrange="-0.25 0.25" joint="rot"/> -->
    <position ctrllimited="true" ctrlrange="-10 10" joint="bally"/>
  </actuator>
</mujoco>
