<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 0" timestep="0.005"/>
   <worldbody>
            <geom condim="3" size="1.0 1.0 0.02" 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 1.2">
            <joint axis="1 0 0" damping="0.1" name="slide0" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0.1" name="slide1" pos="0 0 0" type="slide"/>
 	    <joint axis="0 0 1" damping="0.1" name="slide2" 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>


 	<body name="wall" pos="0.8 0 1">
            <geom mass="1000" pos="0 0 0" rgba="0 0.8 0.5 1" size="0.15 1.5 1.5"  type="box"/>
            <joint axis="1 0 0" name="wall:slidex" type="slide"/>
            <joint axis="0 1 0" name="wall:slidey" type="slide"/>
        </body>

   </worldbody>
    <actuator>
        <motor name="act0" gear="2000.0" joint="slide0"/>
        <motor name="act1" gear="2000.0" joint="slide1"/>
    </actuator>
</mujoco>
