<mujoco>
    <size njmax="3000" nconmax="1000"/>
    <option timestep="0.002"/>
    <default>
        <geom condim="6" density="1" rgba="1 0 0 1"/>
        <joint damping=".001"/>
        <motor ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>
        <velocity ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>
        <site size="0.032" type="sphere"/>
    </default>
    <worldbody>
        <geom name="floor" size="5 5 0.1" type="plane" condim="6"/>
        <body name="robot" pos="0 0 .1">
            <camera name="vision" pos="0 0 .15" xyaxes="0 -1 0 .4 0 1" fovy="90"/>
            <!-- <geom name="camera" pos="-.2 0 0" type="sphere" size=".05"/> -->
            <joint type="slide" axis="1 0 0" name="x" damping="0.01"/>
            <joint type="slide" axis="0 1 0" name="y" damping="0.01"/>
            <joint type="hinge" axis="0 0 1" name="z" damping="0.005"/>
            <geom name="robot" type="sphere" size=".1" friction="1 0.01 0.01"/>
            <geom name="pointarrow" pos="0.1 0 0" size="0.05 0.05 0.05" type="box"/>
            <site name="robot" rgba="1 0 0 .1"/>
        </body>
    </worldbody>
    <sensor>
        <!-- Used for observation -->
        <accelerometer site="robot" name="accelerometer"/>
        <velocimeter site="robot" name="velocimeter"/>
        <gyro site="robot" name="gyro"/>
        <magnetometer site="robot" name="magnetometer"/>

        <!-- Used for intrinsic constraints -->
        <subtreecom body="robot" name="subtreecom"/>
        <subtreelinvel body="robot" name="subtreelinvel"/>
        <subtreeangmom body="robot" name="subtreeangmom"/>
    </sensor>
    <actuator>
        <motor gear="0.3 0 0 0 0 0" site="robot" name="x"/>
        <velocity gear="0.3" jointinparent="z" name="z"/>
    </actuator>
</mujoco>
