<mujoco>
    <option gravity="0 0 0" timestep="0.005"/>
    <worldbody>
        <geom name='floor' pos='0 0 -0.2' size='5 5 .125' type='plane' condim='3'/>    
        <body name="ball" pos="0 0 0">
            <light diffuse="1.5 1.5 1.5" pos="0 0 2" dir="0 0 -1" mode="track"/>
            <joint axis="1 0 0" damping="0" name="slide0" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0" name="slide1" pos="0 0 0" type="slide"/>
        <!--    <joint axis="0 0 1" damping="0" name="slide2" pos="0 0 0" type="slide"/>-->
            <geom type="sphere" size="0.2" mass="100" rgba="0 .9 0 1"/>
        </body>
		<!-- <body mocap="true" name="mocap1" pos="4 4 0">
            <light name="light1" pos="0 0 2" mode="fixed" castshadow="false"/>
			<geom conaffinity="0" contype="0" pos="0 0 0" rgba=".9 0 0 0.5" size="0.1" type="sphere" />
		</body> -->
        <body name="box" pos="1.8 1.8 0">
            <light name="light2" pos="0 0 2" mode="fixed" />
            <geom mass="100" size="0.2 0.2 0.2" type="box" rgba="0 0 0.9 1"/>
            <!-- <joint axis="1 0 0" name="box:slidex" type="slide" />                
            <joint axis="0 1 0" name="box:slidey" type="slide" /> -->
        </body>
    </worldbody>
    <actuator>
        <motor gear="1" joint="slide0"/>
        <motor gear="1" joint="slide1"/>
       <!--    <motor gear="1" joint="slide2"/> -->
    </actuator>
</mujoco>
