<mujoco>
  <compiler inertiafromgeom="true" angle="degree" coordinate="local" />
  <option timestep="0.01" integrator="Euler"/>
  <default>
    <joint limited="false" armature="0" damping="0" />
    <geom conaffinity="1" contype="1" condim="1"  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'  pos='0 0 0' size='40 40 40' type='plane' conaffinity='1' rgba='1 1 1 1' condim='3' />
    <geom name='left_wall' pos='-3 0 0.5' size='0.1 3 0.5' type='box' conaffinity='1' rgba='1 0 0 1' condim='1' contype='1' />
    <geom name='right_wall' pos='3 0 0.5' size='0.1 3 0.5' type='box' conaffinity='1' rgba='1 0 0 1' condim='1' contype='1' />
    <geom name='front_wall' pos='0 3 0.5' size='3 0.1 0.5' type='box' conaffinity='1' rgba='1 0 0 1' condim='1' contype='1' />
    <geom name='back_wall' pos='0 -3 0.5' size='3 0.1 0.5' type='box' conaffinity='1' rgba='1 0 0 1' condim='1' contype='1' />

    <body name="fist" pos="0 0 0">
      <geom name="pointbody" type="sphere" size="0.1" pos="0 0 0.1" />
      <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' />
    </body>

    <body name="redcube" pos="0 0 0">
      <geom name="rc" type="box" size="0.2 0.2 0.2" pos="0 0 0.2" rgba="1 0 0 1" conaffinity="0" contype="0"/>
      <joint name='rcx' type='slide' axis='1 0 0' pos='0 0 0' />
      <joint name='rcy' type='slide' axis='0 1 0' pos='0 0 0' />
    </body>

    <body name="bluecube" pos="0 0 0">
      <geom name="bc" type="box" size="0.2 0.2 0.2" pos="0 0 0.2" rgba="0 0 1 1" conaffinity="0" contype="0"/>
      <joint name='bcx' type='slide' axis='1 0 0' pos='0 0 0' />
      <joint name='bcy' type='slide' axis='0 1 0' pos='0 0 0' />
    </body>

    <body name="blacksphere" pos="0 0 0">
      <geom name="bs" type="sphere" size="0.2" pos="0 0 0.2" rgba="0 0 0 1" conaffinity="0" contype="0"/>
      <joint name='bsx' type='slide' axis='1 0 0' pos='0 0 0' />
      <joint name='bsy' type='slide' axis='0 1 0' pos='0 0 0' />
    </body>

    <body name="yellowcylinder" pos="0 0 0">
      <geom name="yc" type="cylinder" size="0.2 0.2" pos="0 0 0.2" rgba="1 1 0 1" conaffinity="0" contype="0"/>
      <joint name='ycx' type='slide' axis='1 0 0' pos='0 0 0' />
      <joint name='ycy' type='slide' axis='0 1 0' pos='0 0 0' />
    </body>

    <geom name="tgt1" type="plane" size="0.2 0.2 0.01" pos="-2.5 0 0.01" rgba="0 0 1 1"/>
    <geom name="tgt2" type="plane" size="0.2 0.2 0.01" pos="-2.5 1 0.01" rgba="0 0 0 1" />
    <geom name="tgt3" type="plane" size="0.2 0.2 0.01" pos="-2.5 2 0.01" rgba="0.4 0.2 1 1"/>
    <geom name="tgt4" type="plane" size="0.2 0.2 0.01" pos="-2.5 -1 0.01" rgba="1 0.3 0 1"/>

    <body name="random" pos="-10 -10 -10">
      <geom name="randombody" type="cylinder" size="0.2 0.2" pos="0 0 0.2" rgba="1 1 0 1" conaffinity="0" contype="0"/>
      <joint name='random_joint' type='slide' axis='0 1 0' pos='0 0 0' />
    </body>

  </worldbody>

  <actuator>
    <motor joint='ballx' ctrlrange="-1 1" ctrllimited="true" />
    <motor joint='bally' ctrlrange="-1 1" ctrllimited="true" />
    <motor joint='random_joint' ctrlrange="-1 1" ctrllimited="true" />
  </actuator>

</mujoco>
