<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<compiler angle="radian" coordinate="local" meshdir="./stls" texturedir="./textures"/>
	<option timestep="0.002">
		<flag warmstart="enable"/>
	</option>

	<include file="shared.xml"/>
	<size njmax="800" nconmax="200"/>

	<worldbody>
		<geom name="floor0" pos="0.8 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"/>
		<body name="floor0" pos="0.8 0.75 0">
			<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
		</body>

		<include file="robot.xml"/>

		<body pos="1.35 0.75 0.2" name="table0">
			<geom size="0.35 0.55 0.2" type="box" mass="2000" material="table_mat"/>
		</body>

		<body name="object0" pos="0.025 0.025 0.025">
			<joint name="object0:joint" type="free" damping="0.01"/>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"/>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
		</body>

		<body name="box" pos="0 0 0">
			<joint name="box:joint" type="free" damping="0.01"/>
			<include file="objects/bin_tall.xml"/>
			<site name="box" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
		</body>

		<body name="lid" pos="0 0 0">
			<joint name="lid:joint" type="free" damping="0.01"/>
			<include file="objects/lid.xml"/>
			<site name="lid" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
		</body>

		<body name="bin" pos="0 0 0">
			<joint name="bin:joint" type="free" damping="0.01"/>
			<include file="objects/bin.xml"/>
			<site name="bin" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
		</body>

		<body name="drawer_asm" pos="0 0 0">
			<joint name="cabinet:joint" type="free" damping="0.01"/>
			<body name="cabinet" pos="0 0 0">
				<include file="objects/cabinet.xml"/>
				<site name="cabinet" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
			</body>
			<body name="drawer" pos="0 0 0.05">
				<joint name="drawer:slide" type="slide" axis="0 -1 0" range="0 0.2" limited="true" damping="0.01"/>
				<include file="objects/drawer.xml"/>
				<site name="drawer" pos="0 -0.16 0.085" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
			</body>
		</body>

		<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false"
					 pos="0 0 4" dir="0 0 -1" name="light0"/>
	</worldbody>

	<actuator>
		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000"
							name="robot0:l_gripper_finger_joint" user="1"/>
		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000"
							name="robot0:r_gripper_finger_joint" user="1"/>
	</actuator>
</mujoco>
