<mujoco>
  <compiler inertiafromgeom="true" angle="degree" coordinate="local" />
  <option timestep="0.02" integrator="RK4" />
  <default>
    <joint limited="false" armature="0" damping="0" />
    <geom condim="3" conaffinity="0" margin="0" friction="1 0.5 0.5" rgba="0.8 0.6 0.4 1" density="100" />
  </default>

  <asset>
    <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0" />
    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" />
    <texture name="texplane" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100" />
    <material name='MatPlane' texture="texplane" shininess="1" texrepeat="30 30" specular="1"  reflectance="0.5" />
    <material name='geom' texture="texgeom" texuniform="true" />
    <material name="MatGnd" specular="0" shininess="0" reflectance="0" rgba='1 1 1 1'/>
  </asset>

  <worldbody>
    <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
    <!--geom name="gnd" material="MatGnd" type="plane" contype="0" conaffinity="0" pos="0 0 0" size="40 40 40"/-->
    <geom name='floor' material="MatPlane" pos='0 0 0' size='40 40 40' type='plane' conaffinity='1' rgba='0.8 0.9 0.8 1' condim='3' />
    <body name="ball" pos="-1.5 -1.5 0">
      <geom name="ball_body" type="sphere" size="0.1" pos="0 0 0.1" />
      <joint name='ballx' type='slide' axis='1 0 0' pos='0 0 0' />
      <joint name='bally' type='slide' axis='0 1 0' pos='0 0 0' />
    </body>

    <body name="maze" pos="0 0 0">
      <geom name="obstacle" type="box" size="0.7 0.7 0.2" pos="0. 0. 0.2" conaffinity='1' rgba="0.15 0.15 0.15 0.6"/>
    </body>

    <body name="target" pos=".1 -.1 .01">
      <geom conaffinity="0" contype="0" name="target" pos="0 0 0.1" rgba="0.9 0.2 0.2 0.9" size="0.1" type="sphere"/>
    </body>
  </worldbody>

  <actuator>
    <!-- Those are just dummy actuators for providing ranges -->
    <motor joint='ballx' ctrlrange="-2 2" ctrllimited="true" />
    <motor joint='bally' ctrlrange="-2 2" ctrllimited="true" />
  </actuator>

</mujoco>
