<mujoco model="planar point mass">
  <include file="./common/skybox.xml"/>
  <include file="./common/visual.xml"/>
  <include file="./common/materials.xml"/>

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

  <default>
    <joint type="hinge" axis="0 0 1" limited="true" range="-.29 .29" damping="1"/>
    <motor gear=".1" ctrlrange="-1 1" ctrllimited="true"/>
  </default>

  <worldbody>
    <light name="light" pos="0 0 1"/>
    <camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/>
    <geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="grid"/>
    <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="pointmass" pos="0 0 .01">
      <camera name="cam0" pos="0 -0.3 0.3" xyaxes="1 0 0 0 0.7 0.7"/>
      <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" />
      <geom name="pointmass" type="sphere" size=".01" 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>
