<mujocoinclude>
    <body childclass="cm_base" name="coffeemachine">
        <body name="cm_link">
            <geom material="cmred" mesh="body1" pos="0 0 0.115"/>
            <geom material="cmred" mesh="body2" pos="0 -0.042 0.3"/>
            <geom material="cmblack" mesh="spout" pos="0 -0.141 0.155"/>
            <geom material="cmblack" euler="1.57 0 0" pos="0 -0.109 0.135" size="0.009 0.018" type="cylinder"/>
            <geom material="cmblack" euler="1.571 -0.0 0.0" mesh="buttonring" pos="0.0 -0.183 0.3"/>
            <geom material="cmblack" mesh="bodypiece1" pos="0.0 0.0 0.115" />

            <geom class="cm_col" pos="0.069 -0.133 0.3" size="0.031 0.05 0.035" type="box" />
            <geom class="cm_col" pos="-0.069 -0.133 0.3" size="0.031 0.05 0.035" type="box" />
            <geom class="cm_col" pos="0.0 -0.133 0.352" size="0.1 0.05 0.018" type="box" />
            <geom class="cm_col" pos="0.0 -0.133 0.248" size="0.1 0.05 0.018" type="box" />
            <geom class="cm_col" pos="0 0 0.115" size="0.1 0.098 0.115" type="box"/>
            <geom class="cm_col" euler="1.57 0 0" pos="0 -0.109 0.135" size="0.009 0.018" type="cylinder"/>
            <geom class="cm_col" pos="0.0 -0.141 0.152" size="0.016 0.041" type="cylinder"/>
            <geom class="cm_col" pos="0 0 0.3" size="0.1 0.098 0.07" type="box"/>
            <site name="coffee_goal" pos="0 -.22 0" size="0.01" rgba="1 0 0 1"/>

        </body>

        <body name="cmbutton" pos="0 0 0">
          <geom material="cmgrey" euler="1.57 0 0" pos="0 -0.19 0.3" size="0.032 0.03 0.032" type="cylinder" group="1"/>
          <geom class="cm_col" euler="1.57 0 0" pos="0 -0.19 0.3" size="0.032 0.03 0.032" type="cylinder" mass=".1"/>

          <joint type="slide" range="0 0.03" axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
          <site name="buttonStart" pos="0.0 -0.22 0.3" size="0.005" rgba="0 0.8 0 1"/>
        </body>
    </body>
</mujocoinclude>
