<mujoco model="sawyer_lift">
    <include file="./common/sawyer_pick.xml" />
    <size njmax="8000" nconmax="4000"/>
    <default>
    </default>
    <asset>
        <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
        <texture file="../textures/dark-wood.png" name="tex-dark-wood" type="2d" />
        <material name="light-wood" reflectance="0.5" texrepeat="15 15" texture="tex-light-wood" texuniform="true" />
        <material name="dark-wood" reflectance="0.5" texrepeat="5 5" texture="tex-dark-wood" texuniform="true" />
        <mesh file="../objects/meshes/can.stl" name="can_mesh" />
        <texture file="../objects/../textures/can.png" name="tex-can" />
        <material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true" />
    </asset>
    <visual>
        <headlight ambient=".5 .5 .5" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
        <map znear=".01"/>
        <quality shadowsize="2048"/>
    </visual>
    <worldbody>
    <body name="bin1" pos="0.5 -0.25 0.8">
      <geom friction="1 0.005 0.0001" pos="0 0 0" size="0.2 0.2 0.02" type="box" />
      <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0 0 0" size="0.2 0.2 0.02" type="box" />
        <geom friction="1 0.005 0.0001" pos="0 0.2 0.05" rgba="0 0 1 1" size="0.21 0.01 0.35" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0 0.2 0.05" size="0.21 0.01 0.35" type="box" />
        <geom friction="1 0.005 0.0001" pos="0 -0.2 0.05" rgba="0 0 1 1" size="0.21 0.01 0.35" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0 -0.2 0.05" size="0.21 0.01 0.35" type="box" />
        <geom friction="1 0.005 0.0001" pos="0.2 0 0.05" rgba="0 0 1 1" size="0.01 0.2 0.35" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0.2 0 0.05" size="0.01 0.2 0.35" type="box" />
        <geom friction="1 0.005 0.0001" pos="-0.2 0 0.05" rgba="0 0 1 1" size="0.01 0.2 0.35" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="-0.2 0 0.05" size="0.01 0.2 0.35" type="box" />
    </body>
      <body name="table" pos="0.66 0.0 0.40">
        <geom friction="1 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.73 0.41" type="box"  rgba="0.3 0.3 0.3 1.0"/>
        <geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.41" type="box" rgba="0.3 0.3 0.3 1.0" />
        <site name="table_top" pos="0.0 0.0 0.41" rgba="0 0 0 0" size="0.001 0.001 0.001" />
     </body>
      <!--   <body name="table" pos="0.66 0.0 0.4"> -->
      <!--     <geom friction="1 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.73 0.41" type="box" /> -->
      <!--     <geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.41" type="box" /> -->
      <!--     <site name="table_top" pos="0.0 0.0 0.41" rgba="0 0 0 0" size="0.001 0.001 0.001" /> -->
      <!-- </body> -->

        <!-- <body name="obstacle" pos="0.66 0.0 0.82"> -->
        <!--   <geom friction="1 0.005 0.0001" name="obstacle0" pos="&#45;0.25 &#45;0.15 0" size="0.02 0.02 0.8" type="box" rgba="0.55 0.25 0.07 1"/> -->
        <!--   <geom conaffinity="0" contype="0" group="1" material="dark&#45;wood" pos="&#45;0.25 &#45;0.15 0." size="0.02 0.02 0.8" type="box" /> -->
        <!--   <geom friction="1 0.005 0.0001" name="obstacle1" pos="0.35 &#45;0.1 0" size="0.02 0.02 0.8" type="box" rgba="0.55 0.25 0.07 1"/> -->
        <!--   <geom conaffinity="0" contype="0" group="1" material="dark&#45;wood" pos="0.35 &#45;0.1 0." size="0.02 0.02 0.8" type="box" /> -->
        <!--   <geom friction="1 0.005 0.0001" name="obstacle2" pos="0.10 0.1 0" size="0.02 0.02 0.8" type="box" rgba="0.55 0.25 0.07 1"/> -->
        <!--   <geom conaffinity="0" contype="0" group="1" material="dark&#45;wood" pos="0.1 0.1 0." size="0.02 0.02 0.8" type="box" /> -->
            <!-- </body> -->

        <body name="cube" pos="0.55 -0.25 0.86" quat="-0.8795838801266339 0 0 0.47574383634617406">
        <!-- <body name="cube" pos="0.55 &#45;0.25 1.26" quat="&#45;0.8795838801266339 0 0 0.47574383634617406"> -->
            <geom condim="4" density="100" friction="0.95 0.3 0.1" group="1" material="coke" mesh="can_mesh" name="cube" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" />
            <site name="cube" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002" type="sphere" /><joint damping="0.0005" name="cube" type="free" />
        </body>
    </worldbody>
</mujoco>
