<mujoco>
    <compiler inertiafromgeom="true" angle="degree" coordinate="local" />
    <option timestep="0.02" integrator="RK4" />
    <default>
        <joint limited="false" armature="0" damping="0" />
        <geom condim="3" conaffinity="0" margin="0" friction="10.0 5.0 5.0" 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="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" 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" material="MatPlane" pos="0 0 0" size="40 40 40" type="plane" conaffinity="1" rgba="0.8 0.9 0.8 1" condim="3" />
        <!--  ================= Point ================= /-->
        <!--  Note that the solimp is modified from rllab to prevent the point from going through the wall /-->
        <body name="torso" pos="0 0 0">
<!--            orignal below -->
<!--            <geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5" rgba="0.8 0.4 0.1 1" solimp="0.9 0.99 0.001" />-->
<!--            <geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5" rgba="0.8 0.4 0.1 1" solimp="0.9 0.99 0.001" />-->
            <!-- 5x below -->
             <geom name="pointbody" type="sphere" size="2.5" pos="0 0 0.5" rgba="0.8 0.4 0.1 1" solimp="0.9 0.99 0.001" />
            <geom name="pointarrow" type="box" size="2.5 0.5 0.5" pos="0.6 0 0.5" rgba="0.8 0.4 0.1 1" solimp="0.9 0.99 0.001" />
<!--            10x below -->
<!--            <geom name="pointbody" type="sphere" size="5.0" pos="0 0 2.5" rgba="0.8 0.4 0.1 1" solimp="0.9 0.99 0.001" />-->
<!--            <geom name="pointarrow" type="box" size="5.0 2.0 2.0" pos="0.6 0 0.5" rgba="0.8 0.4 0.1 1" solimp="0.9 0.99 0.001" />-->
            <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" />
            <joint name="rot" type="hinge" axis="0 0 1" pos="0 0 0" limited="false" />
        </body>
    </worldbody>
    <actuator>
        <!-- Those are just dummy actuators for providing ranges -->
        <motor joint="ballx" ctrlrange="-1 1" ctrllimited="true" />
        <motor joint="rot" ctrlrange="-0.25 0.25" ctrllimited="true" />
    </actuator>
</mujoco>
