<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="0.8 0.8 0.8" 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="floor" pos="0 0 0">
      <site name="target0" pos="0 0 0.5" size="0.5 0.5 0.5" rgba="1 0 0 1" type="sphere"/>
    </body>
    <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>
  </worldbody>
  <actuator>
    <!-- Those are just dummy actuators for providing ranges -->
    <motor ctrllimited="true" ctrlrange="-1 1" joint="ballx"/>
    <motor ctrllimited="true" ctrlrange="-0.25 0.25" joint="rot"/>
  </actuator>
</mujoco>