<mujoco model="point_mass">
    <compiler inertiafromgeom="true" />
    <option gravity="0 0 0" timestep="0.01" />
    <default>
        <joint armature="0" damping="0.1" />
        <geom contype="0" conaffinity="0" friction="1 0.1 0.1" />
        <motor ctrlrange="-1 1" gear="10" />
    </default>
    <asset>
        <texture name="skybox" type="skybox" builtin="gradient" rgb1="0.4 0.4 0.4" rgb2="0 0 0"
            width="512"
            height="512" />
        <texture name="motphys-ground" type="2d" file="../../common/motphys-ground.png" />
        <material name="motphys-ground" texture="motphys-ground" texuniform="true"
            texrepeat="0.4 0.4" />
    </asset>

    <worldbody>
        <light pos="0 0 1.5" dir="0 0 -1" directional="true" />
        <geom name="floor" size="0 0 0.01" type="plane" material="motphys-ground" pos="0 0 0" />
    </worldbody>

    <worldbody>
        <!-- Point mass -->
        <body name="point_mass" pos="0 0 0.1">
            <joint name="point_mass_x" type="slide" axis="1 0 0" />
            <joint name="point_mass_y" type="slide" axis="0 1 0" />
            <geom name="mass" type="sphere" size="0.05" rgba="0.5 0.5 1 1" mass="1" />
        </body>

        <!-- Target -->
        <body name="target" pos="0 0 0.1" mocap="true">
            <joint name="target_x" type="slide" axis="1 0 0" />
            <joint name="target_y" type="slide" axis="0 1 0" />
            <geom name="target_geom" type="sphere" size="0.1" rgba="1 0 0 0.8" contype="0" conaffinity="0" />
        </body>
    </worldbody>

    <actuator>
        <motor name="x_force" joint="point_mass_x" />
        <motor name="y_force" joint="point_mass_y" />
    </actuator>
</mujoco>
