<mujoco model="block_insertion">

    <compiler inertiafromgeom="true" angle="radian" coordinate="local" />
    <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
    <default>
        <joint armature="0.1" damping="1" limited="false" />
        <geom friction=".5 .1 .1" margin="0" condim="3" contype="0" conaffinity="0" />
    </default>

    <worldbody>

        <body name="block" pos="0 -0.4 0">
            <geom name="block_geom" rgba="1 1 0 1" type="box" size="0.01 0.05 0.15" contype="1" conaffinity="1" />
            <joint name="block_x" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-0.25 0.25" />
            <joint name="block_y" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="0 0.8" />
            <joint name="block_z" type="slide" pos="0 0 0" axis="0 0 1" limited="true" range="-0.25 0.25" />
        </body>
        
        
        <body name="block_target" pos="0 -0.4 0">
            <geom name="block_target_geom" rgba="0 1 0 1" type="box" size="0.01 0.05 0.15" contype="0" conaffinity="0" />
            <joint name="block_target_x" armature="0" damping="0" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-0.25 0.25" />
            <joint name="block_target_y" armature="0" damping="0" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="0 0.8" />
            <joint name="block_target_z" armature="0" damping="0" type="slide" pos="0 0 0" axis="0 0 1" limited="true" range="-0.25 0.25" />
        </body>
        
        <!--<body name="w0" pos="0 0 0.3">-->
        <!--    <geom name="w0" rgba="1 0 0 1" type="box" size="0.02 0.05 0.06" contype="1" conaffinity="1" />-->
        <!--</body>-->


        <body name="w1" pos="0.32 0 0">
            <geom name="w1" rgba="0.9 0.9 0.9 1" type="box" size="0.29 0.15 0.6" contype="1" conaffinity="1" />
        </body>

        <body name="w2" pos="-0.32 0 0">
            <geom name="w2" rgba="0.9 0.9 0.9 1" type="box" size="0.29 0.15 0.6" contype="1" conaffinity="1" />
        </body>

        <body name="w3" pos="0.0 0 0.41">
            <geom name="w3" rgba="0.9 0.9 0.9 1" type="box" size="0.032 0.15 0.19" contype="1" conaffinity="1" />
        </body>

        <body name="w4" pos="0.0 0 -0.41">
            <geom name="w4" rgba="0.9 0.9 0.9 1" type="box" size="0.032 0.15 0.19" contype="1" conaffinity="1" />
        </body>
    </worldbody>

    <actuator>
        <motor joint="block_x" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="block_y" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="block_z" ctrlrange="-2.0 2.0" ctrllimited="true" />
    </actuator>

</mujoco>