<mujoco>
<compiler angle="radian" coordinate="local" inertiafromgeom="true"/>
<default>
	<joint armature="0" damping="0" limited="false" />
	<geom conaffinity="1" condim="3" density="100" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1" />
</default>
   <option gravity="0 0 -9.81" timestep="0.005"/>
   <worldbody>
        <geom condim="3" size="1.0 1.0 0.000001" rgba="0 1 0 1" type="plane"/>
        <light diffuse=".5 .5 .5" pos="0 0 10" dir="0 0 -1"/>    
        <body name="ball" pos="0 0 2">
            <joint axis="1 0 0" damping="0.1" name="slideX" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0.1" name="slideY" pos="0 0 0" type="slide"/>
 	    <joint axis="0 0 1" damping="0.1" name="slideZ" pos="0 0 0" type="slide"/>
            <geom mass="10" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"/>
	    <camera euler="0 0 0" fovy="40" name="rgb" pos="0 0 2.5"></camera>
        </body>
   </worldbody>
    <actuator>
        <motor name="actX" gear="2000.0" joint="slideX"/>
        <motor name="actY" gear="2000.0" joint="slideY"/>
        <motor name="actZ" gear="2000.0" joint="slideZ"/>
    </actuator>
</mujoco>
