<mujoco model="rubik-v1.50">
	<asset>
		<texture name='rubik' file="rubik/rubik_slice.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/>
		<material name="MatRubik" texture="rubik" specular="1" shininess=".3"/>
	</asset>

	<!--
		Note: Some properties of this XML (density, frictionloss, armature, damping) are overwritten
		in code. This is done because the full cube XML is heavily modified at runtime and the
		same code path is used for locked, face and full cube. Please refer to `dactyl_cube_simple.py`
		for details.
	-->
	<worldbody>
		<body name="middle" pos=".0285 .0285 .0285">
			<geom name="middle" type="box" size=".0285 .0285 .0095" material="MatRubik" condim="4"/>
			<site name="center" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" />
			<joint name="cube_tx" type="slide" axis="1 0 0" limited="false"/>
			<joint name="cube_ty" type="slide" axis="0 1 0" limited="false"/>
			<joint name="cube_tz" type="slide" axis="0 0 1" limited="false"/>
			<joint name="cube_rot" type="ball" limited="false"/>
			<body name="top" pos="0 0 .019">
				<geom name="top" type="box" size=".0285 .0285 .0095" material="MatRubik"  condim="4" friction="0.4 0.005 0.001" />
				<joint name="face_top" type="hinge" axis="0 0 1" limited="false"/>
			</body>
			<body name="bottom" pos="0 0 -.019">
				<geom name="bottom" type="box" size=".0285 .0285 .0095" material="MatRubik"  condim="4" friction="0.4 0.005 0.001"/>
				<joint name="face_bottom" type="hinge" axis="0 0 1" limited="false"/>
			</body>
		</body>
		<body name="annotation:outer_bound" pos="0.0285 0.0285 0.0285">
			<geom conaffinity="0" contype="0" mass="0" pos="0 0 0" rgba="0.417022 0.720324 0.000114 0.1" size="0.0285 0.0285 0.0285" type="box" />
		</body>
	</worldbody>

</mujoco>
