<mujoco>
	<include file="MPL.xml"/>
	<include file="assets.xml"/>
	<include file="Camera.xml"/> 

	<worldbody>
		<geom type="plane" material="MatPlane" pos=".6 0 0.1" zaxis="-1 0 1" size=".1 .5 .025"/>
		<geom type="plane" material="MatPlane" pos="-.6 0 0.1" zaxis="1 0 1" size=".1 .5 .025"/>
		<geom type="plane" material="MatPlane" pos="0 .6 0.1" zaxis="0 -1 1" size=".5 .1 .025"/>
		<geom type="plane" material="MatPlane" pos="0 -.6 0.1" zaxis="0 1 1" size=".5 .1 .025"/>

		<body name="cylinder" pos="0.0 -0.21 0.11" axisangle="0.0 0.0 1.0 0.0">
			<geom type="cylinder" material="MatWoodB" size="0.03 0.04 0.06"/>
			<!-- Comment out to fix the object -->
			<!--
			<joint class="free"/>
			-->
		</body>

	</worldbody>

</mujoco>
