<!--
  A freely movable cube for testing purposes
-->
<mujoco model="testcube">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.01"/>
  <option>
    <flag gravity="enable"/>
  </option>

  <default>
    <joint armature="1" damping="10" limited="true"/>
    <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
    <motor ctrllimited="true" ctrlrange="-1 1"/>
  </default>

  <worldbody>
    <body name="torso" pos="0 0 0.3">
      <camera name="side" mode="trackcom" pos="0 -6 1" euler="80 0 0"/>
      <geom name="torso" pos="0 0 0" size="0.2 0.2 0.2" type="box"/>
      <joint name="slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-1000 1000"/>
      <joint name="slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-1000 1000"/>
      <joint name="slidez" type="slide" pos="0 0 0" axis="0 0 1" range="-1000 1000"/>
    </body>
  </worldbody>

  <actuator>
    <motor name="x" joint="slidex" gear="50"/>
    <motor name="y" joint="slidey" gear="50"/>
    <motor name="z" joint="slidez" gear="50"/>
  </actuator>
</mujoco>
