<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="1 0.5 0.5" density="100" material="self"/>
    </default>

    <asset>
        <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0"/>
        <texture name="grid" type="2d" builtin="checker" rgb1=".08 .11 .16" rgb2=".15 .18 .25" width="300" height="300"/>
        <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="teleport_in" type="2d" builtin="gradient" rgb1=".1 .1 .1" rgb2="0.35 0.55 0.91" width="300" height="300"/>
        <texture name="teleport_out" type="2d" builtin="gradient" rgb1=".9 .9 .9" rgb2="0.35 0.55 0.91" width="300" height="300"/>
        <material name="grid" texture="grid" texrepeat="1 1" texuniform="true"/>
        <material name="self" rgba=".7 .5 .3 1"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
        <material name="wall" rgba="1 1 1 1"/>
        <material name="target" rgba="0.96 0.26 0.33 1"/>
        <material name="teleport_in" texture="teleport_in"/>
        <material name="teleport_out" texture="teleport_out"/>
    </asset>

    <worldbody>
        <light name="global" directional="true" cutoff="100" exponent="1" ambient=".2 .2 .2" 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="100 100 .2" type="plane" conaffinity="1" condim="3" material="grid"/>
        <body name="torso" pos="0 0 0">
            <geom name="pointbody" type="sphere" size="0.7" pos="0 0 0.7"/>
            <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"/>
            <light name="torso_light" pos="0 0 8" mode="trackcom"/>
        </body>
    </worldbody>

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