<mujoco model="point">
  <!-- <compiler angle="degree" coordinate="local" inertiafromgeom="true" settotalmass="25755"/> -->
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.01"/>
  <!-- <custom>
    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
  </custom> -->
  <default>
    <joint armature="1" damping="1" limited="true"/>
    <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1" material="geom"/>
  </default>
    <asset>
        <texture name="monstertex" type="cube" file="monstertex.png" gridsize="3 4" gridlayout=".U..LDRB.F.."/>
        <texture name="slowtex" type="2d" builtin="none" file="slow_sign.png" width="100" height="100"/>
        <texture name="fasttex" type="2d" builtin="none" file="fast_sign.png" width="100" height="100"/>
        <texture type="skybox" builtin="gradient" rgb1=".1 .12 .15" rgb2="0 0 0" width="100" height="100"/>
        <texture builtin="checker" height="100" name="texplane" rgb1=".1 .1 .1" rgb2=".15 .15 0.15" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="50 50" texture="texplane"/>
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <material name="monstermat" texture="monstertex" texuniform="true"/>
        <material name="slowmat" texture="slowtex" texuniform="true" texrepeat="0.2 0.2"/>
        <material name="fastmat" texture="fasttex" texuniform="true" texrepeat="0.2 0.2"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
    </asset>
  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="10 10 0" rgba="0.8 0.9 0.8 1" size="60 20 10" type="plane"/>
    <body name="torso" pos="-40 10 0">
      <geom name="pointbody" conaffinity="1" contype="1" type="sphere" size="1" pos="0 0 1.0" />
      <geom name="pointarrow" type="box" size="0.6 0.1 0.1" pos="0.6 0 1.0" />
      <joint name='ballx' type='slide' axis='1 0 0' pos='0 0 0' range ="-1000 1000"/>
      <joint name='bally' type='slide' axis='0 1 0' pos='0 0 0'  range ="-1000 1000" />
      <joint name='rot' type='hinge' axis='0 0 1' pos='0 0 0' limited="false" />
    </body>

    <body>
    <geom pos="-40 10 0" conaffinity="1" contype="1" rgba="0.9 0.2 0.2 1" size="5 5 0.1" type="ellipsoid"/>
    </body>

    <geom pos="10 -10 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="60 0.2 2" type="box"/>
    <geom pos="10 30 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="60 0.2 2" type="box"/>
    <geom pos="-50 10 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="0.2 20 2" type="box"/>
    <geom pos="70 10 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="0.2 20 2" type="box"/>

    <!-- <body name="wall1" pos="-10 5 0">
    <geom pos="-10 5 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1.2 7 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert" pos="0 0 0" stiffness="0" type="slide"/>
    </body>
    <body name="wall2" pos="0 5 0">
    <geom pos="0 5 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1.2 7 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz2" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert2" pos="0 0 0" stiffness="0" type="slide"/>
    </body>
    <body name="wall3" pos="10 10 0">
    <geom pos="10 10 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1.2 7 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz3" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert3" pos="0 0 0" stiffness="0" type="slide"/>
    </body>
    <body name="wall4" pos="20 10 0">
    <geom pos="20 10 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1.2 7 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz4" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert4" pos="0 0 0" stiffness="0" type="slide"/>
    </body>
    <body name="wall5" pos="32 5 1">
    <geom pos="32 5 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1.2 7 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz5" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert5" pos="0 0 0" stiffness="0" type="slide"/>
    </body> -->

    <!-- <geom pos="35 25 0" conaffinity="1" rgba="0.9 0.9 0.9 1" size="5 0.2 5" type="box"/> -->

    <!-- <geom pos="30 10.5 0" conaffinity="1" rgba="0.9 0.9 0.9 1" size="0.2 14.6 5" type="box"/> -->

    <!-- the monster -->
    <!-- <geom pos="-20 20 0" conaffinity="1" contype="1" rgba="0.9 0.2 0.2 1" size="5 5 0.1" type="ellipsoid"/> -->

    <body name="monster1" pos="-20 20 0">
      <geom pos="0 0 1" material="monstermat" conaffinity="1" rgba="1 1 1 1" size="3 3 3" type="ellipsoid"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert" pos="0 0 0" stiffness="0" type="slide"/>
    </body>

    <body name="monster2" pos="0 20 0">
      <geom pos="0 0 1" material="monstermat" conaffinity="1" rgba="1 1 1 1" size="3 3 3" type="ellipsoid"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz1" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert1" pos="0 0 0" stiffness="0" type="slide"/>
    </body>

    <!-- <geom pos="20 20 0" conaffinity="1" contype="1" rgba="0.9 0.2 0.2 1" size="5 5 0.1" type="ellipsoid"/> -->
    <body name="monster3" pos="20 20 0">
      <geom pos="0 0 1" material="monstermat" conaffinity="1" rgba="1 1 1 1" size="3 3 3" type="ellipsoid"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz2" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert2" pos="0 0 0" stiffness="0" type="slide"/>
    </body>

    <body name="monster4" pos="20 10 0">
    <geom pos="20 0 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1.2 8 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz4" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert4" pos="0 0 0" stiffness="0" type="slide"/>
    </body>

    <body>
    <geom pos="-20 0 2" conaffinity="1" contype="1" material="slowmat" size="4 4 0.1" type="plane"/>
    </body>

    <body>
    <geom pos="0 0 2" conaffinity="1" contype="1" material="fastmat" size="4 4 0.1" type="plane"/>
    </body>

    <body>
    <geom pos="20 0 2" conaffinity="1" contype="1" material="slowmat" size="4 4 0.1" type="plane"/>
    </body>

    <!-- <body name="monster4" pos="40 20 0">
      <geom pos="0 0 1" material="monstermat" conaffinity="1" rgba="1 1 1 1" size="3 3 3" type="ellipsoid"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz3" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert3" pos="0 0 0" stiffness="0" type="slide"/>
    </body> -->

    <!-- <geom pos="20 -60 0" conaffinity="1" contype="1" rgba="0.9 0.2 0.2 1" size="5 5 0.1" type="ellipsoid"/> -->
    <!-- <body name="monster5" pos="20 -70 0">
      <geom pos="0 0 1" material="monstermat" conaffinity="1" rgba="1 1 1 1" size="3 3 3" type="ellipsoid"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz4" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert4" pos="0 0 0" stiffness="0" type="slide"/>
    </body> -->

    <!-- <body name="wall6" pos="32 5 2">
    <geom pos="32 5 0" conaffinity="1" contype="1" rgba="0.9 0.9 0.9 1" size="1 7 2" type="box"/>
    <joint armature="0" axis="1 0 0" damping="0" limited="false" name="horiz6" pos="0 0 0" stiffness="0" type="slide"/>
    <joint armature="0" axis="0 1 0" damping="0" limited="false" name="vert6" pos="0 0 0" stiffness="0" type="slide"/>
    </body> -->

    <geom pos="60 10 -0.1" conaffinity="1" rgba="0.2 0.9 0.2 1" size="2 2 0.11" type="box"/>

  </worldbody>
  <actuator>
    <motor joint='ballx' ctrlrange="-1 1" ctrllimited="true" gear="1.0" />
    <motor joint='rot' ctrlrange="-1 1" ctrllimited="true" gear="0.25" />
  </actuator>
</mujoco>
