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

	<worldbody>
	
		<body name="Can" pos="0.1 .1 0">
			<geom name="cbase" type="box" material="MatWoodB" size="0.04 0.04 0.005" pos="0 0 0.005"condim="4" friction="1 1 .001"/>
			<geom name="cright" type="box" material="MatWoodB" size="0.005 0.035 0.05" pos="0.04 0 0.05" condim="4" friction="1 1 .001"/>
			<geom name="cleft" type="box" material="MatWoodB" size="0.005 0.035 0.05" pos="-.04 0 0.05" condim="4" friction="1 1 .001"/>
			<geom name="cfront" type="box" material="MatWoodB" size="0.045 0.005 0.05" pos="0 0.04 0.05" condim="4" friction="1 1 .001"/>
			<geom name="cback" type="box" material="MatWoodB" size="0.045 0.005 0.05" pos="0 -.04 0.05" condim="4" friction="1 1 .001"/>
			<joint class="free"/>
		</body>
		
		<body name="Jar" pos="-.1 .1 0">
			<geom name="jright" type="box" material="MatWood" size="0.005 0.035 0.05" pos="0.04 0 0.05" rgba="0 1 0 1" condim="4" friction="1 1 .001"/>
			<geom name="jleft" type="box" material="MatWood" size="0.005 0.035 0.05" pos="-.04 0 0.05" rgba="0 1 0 1" condim="4" friction="1 1 .001"/>
			<geom name="jfront" type="box" material="MatWood" size="0.045 0.005 0.05" pos="0 0.04 0.05" rgba="0 1 0 1" condim="4" friction="1 1 .001"/>
			<geom name="jback" type="box" material="MatWood" size="0.045 0.005 0.05" pos="0 -.04 0.05" rgba="0 1 0 1" condim="4" friction="1 1 .001"/>
		</body>
		
		<body name="fluid0" pos="0.08 .11 .17">
			<geom type="sphere" size="0.009" rgba="0.8 0.8 0.2 1"/>
			<joint class="free" />
		</body>
		<body name="fluid1" pos="0.09 .09 .17">
			<geom type="sphere" size="0.009" rgba="0.8 0.8 0.2 1"/>
			<joint class="free" />
		</body>
		<body name="fluid2" pos="0.10 .11 .17">
			<geom type="sphere" size="0.009" rgba="0.8 0.8 0.2 1"/>
			<joint class="free" />
		</body>
		<body name="fluid3" pos="0.11 .09 .17">
			<geom type="sphere" size="0.009" rgba="0.8 0.8 0.2 1"/>
			<joint class="free" />
		</body>
		<body name="fluid4" pos="0.12 .11 .17">
			<geom type="sphere" size="0.009" rgba="0.8 0.8 0.2 1"/>
			<joint class="free"/>
		</body>
	
	</worldbody>
</mujoco>