<mujoco model="water_maze">
    <compiler inertiafromgeom="true" angle="radian" coordinate="local" />
    <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
    <default>
        <joint limited="false" damping="1" />
        <geom contype="2" conaffinity="1" condim="1" friction=".5 .1 .1" density="1000" margin="0.002" />
    </default>

    <worldbody>
        <!-- Pointmass -->
        <body name="particle" pos="0 0 0">
            <geom name="particle_geom" type="sphere" size="0.01" rgba="0.0 0.0 1.0 1" contype="1"/>
            <site name="particle_site" pos="0 0 0" size="0.01" />
            <joint name="ball_x" type="slide" pos="0 0 0" axis="1 0 0" />
            <joint name="ball_y" type="slide" pos="0 0 0" axis="0 1 0" />
        </body>

        <!-- Target -->
        <body name="target" pos="0 0 0">
            <geom conaffinity="0" name="target_geom" type="cylinder" size=".04
             .001" rgba="0 0.9 0.1 1" contype="0"/>
            <joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" />
            <joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" />
        </body>

        <!-- Arena -->
        <geom conaffinity="1" fromto="-.12 -.12 .0 .12 -.12 .0" name="sideS"
              rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
        <geom conaffinity="1" fromto=" .12 -.12 .0 .12  .12 .0" name="sideE"
              rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
        <geom conaffinity="1" fromto="-.12  .12 .0 .12  .12 .0" name="sideN"
              rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
        <geom conaffinity="1" fromto="-.12 -.12 .0 -.12 .12 .0" name="sideW"
              rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
    </worldbody>

    <actuator>
        <motor joint="ball_x" ctrlrange="-1.0 1.0" ctrllimited="true"/>
        <motor joint="ball_y" ctrlrange="-1.0 1.0" ctrllimited="true"/>
        <motor joint="target_x" ctrlrange="-1.0 1.0" ctrllimited="true"/>
        <motor joint="target_y" ctrlrange="-1.0 1.0" ctrllimited="true"/>
    </actuator>
</mujoco>
