<mujoco model="planar point mass">
  <asset>
    <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
    <material name="self" rgba=".7 .5 .3 1"/>
    <material name="self_default" rgba=".7 .5 .3 1"/>
    <material name="self_highlight" rgba="0 .5 .3 1"/>
    <material name="effector" rgba=".7 .4 .2 1"/>
    <material name="effector_default" rgba=".7 .4 .2 1"/>
    <material name="effector_highlight" rgba="0 .5 .3 1"/>
    <material name="decoration" rgba=".3 .5 .7 1"/>
    <material name="eye" rgba="0 .2 1 1"/>
    <material name="target" rgba=".6 .3 .3 1"/>
    <material name="target_default" rgba=".6 .3 .3 1"/>
    <material name="target_highlight" rgba=".6 .3 .3 .4"/>
    <material name="site" rgba=".5 .5 .5 .3"/>
  </asset>

  <option timestep="0.02">
    <!-- <flag contact="disable"/> -->
  </option>

  <default>
    <joint type="hinge" axis="0 0 1" limited="true" range="-40 40" damping=".1"/>
    <motor gear="10" ctrlrange="-1 1" ctrllimited="true"/>
    <geom  solref="0.3 0.05"/>
  </default>

  <worldbody>
    <camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/>
    <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='0.8 0.9 0.8 1' condim='3' />
    <!-- <geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0"  size=".02 .3 .02" material="decoration"/>
    <geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0"  size=".3 .02 .02" material="decoration"/>
    <geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0"  size=".02 .3 .02" material="decoration"/>
    <geom name="wall_neg_y" type="plane" pos="0 .3 .02" zaxis="0 -1 0"  size=".3 .02 .02" material="decoration"/> -->

    <body name="torso" pos="0 0 .5">
      <joint name="root_x" type="slide"  pos="0 0 0" axis="1 0 0" />
      <joint name="root_y" type="slide"  pos="0 0 0" axis="0 1 0" />
      <joint axis="0 0 1" limited="false" name="rot" pos="0 0 0" type="hinge"/>
      <geom name="pointmass" type="sphere" size="0.5" material="self" mass=".3"/>
    </body>

    <!-- <geom name="target" pos="0 0 .01" material="target" type="sphere" size=".015"/> -->
  </worldbody>

  <tendon>
    <fixed name="t1">
      <joint joint="root_x" coef="1"/>
      <joint joint="root_y" coef="0"/>
    </fixed>
    <fixed name="t2">
      <joint joint="root_x" coef="0"/>
      <joint joint="root_y" coef="1"/>
    </fixed>
  </tendon>

  <actuator>
    <motor name="t1" tendon="t1"/>
    <motor name="t2" tendon="t2"/>
  </actuator>
</mujoco>