<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"/>
    </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='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="torso" pos="0 0 0">
            <geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5"/>
            <geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5"/>
            <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'/>
            <joint name='rot' type='hinge' axis='0 0 1' pos='0 0 0' limited="false"/>
        </body>
    </worldbody>
    <actuator>
        <!-- Those are just dummy actuators for providing ranges -->
        <motor joint='ballx' ctrlrange="-1 1" ctrllimited="true"/>
        <motor joint='rot' ctrlrange="-0.25 0.25" ctrllimited="true"/>
    </actuator>
</mujoco>
