<?xml version="1.0" encoding="utf-8"?>
<mujoco model="franka_reacher">
  <compiler meshdir=""/>
	<option noslip_iterations="5">
  <!-- mujoco modeling doc: When contact slip is a problem, the best way to suppress 
  it is to use elliptic cones, large impratio, and the Newton algorithm 
  with very small tolerance. If that is not sufficient, enable the Noslip solver -->
		<flag warmstart="enable"></flag>
    <!-- (From mujoco xml reference) Dis/Enables warm-starting of the constraint solver.
    By default, the solver uses the solution (i.e. the constraint force) from the previous time step to initialize the iterative optimization.
    This feature should be disabled when evaluating the dynamics at a collection of states that do not form a trajectory.-->
	</option>
  <default>
    <!-- Contact softness params are solref[0,1] and set solimp[1] to 1
    Defaults solimp="0.9 0.95 0.01" solref="0.02 1" -->
    <geom solimp="0.9 1 0.01" solref="-1000 -100" condim="4"/>
  </default>

	<include file="panda/basic_scene.xml"/>
  <include file="panda/assets.xml"/>

	<worldbody>
    <include file="panda/chain0.xml"/>
    <site name="target0" pos="0.5 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 0.2" type="sphere"></site>

		<body pos="0.6 0 0.15" name="table0">
			<geom size="0.25 0.5 0.15" type="box" mass="2000"></geom>
      <body pos="-0.01 0 0.16" name="object0">
      <joint armature="0" axis="1 0 0" name="objx" damping="0" limited="false" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" name="objy" damping="0" limited="false" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" name="objz" damping="0" limited="false" pos="0 0 0" stiffness="0" type="slide"/>
			<geom size="0.015 0.015 0.015" type="box" density="100" rgba = "0.2 0.2 1 1" condim="4"></geom>
		</body>
		</body>
  
	</worldbody>
  <include file="panda/actuator0.xml"/>

  <keyframe> <!-- To visualize in mujoco's simulate executable -->
    <key qpos='0 0.1763 -0.000316538 -1.76272 -0.00844537 0.35995 0 0.04 0.04 0.02 0 0'/>
  </keyframe>

</mujoco>
