<mujoco model="robot">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  	<option integrator="RK4" timestep="0.002"/>
  	<worldbody>
    	  	
    	<!-- robot model -->
    	<body name="robot" pos="0 0 0.01">
    		<geom name="base" type="cylinder" size="0.05 0.01" rgba="0.0 1.0 0.0 1" pos="0 0 0" friction="10 0.1 0.1"/>
    		<!-- sliding joints in the plane to model omnidirectional motion -->
    		<joint axis="1 0 0" name="robot_x" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" name="robot_y" pos="0 0 0" type="slide"/>
            <joint axis="0 0 1" name="robot_turn" pos="0 0 0" type="hinge"/>
		
			<!-- kick mechanical model -->
			<body name="kick" pos="0 0 0.035">
				<geom type="box" size="0.05 0.01 0.02" rgba="0.0 1.0 0.0 1" pos="0 0 0"/>
				<joint name="kick" type="slide" pos="0 0 0" axis="0 1 0" range="-0.05 0.05" limited="true"/>
				<inertial pos="0 0 0" mass="1"/>
			</body>

			<!-- Dribbler mechanical model -->
			<body name="dribbler" pos="0 0.05 0.1" quat="1 0 1 0">
				<geom type="cylinder" size="0.02 0.05" rgba="0.0 1.0 0.0 1" pos="0 0 0" friction="10 0.1 0.1"/>
				<joint name="dribbler" type="hinge" pos="0 0 0" axis="0 0 1"/>
				<inertial pos="0 0 0" mass="10"/>
			</body>

			<inertial pos="0 0 0" mass="100"/>

    	</body>

		

	</worldbody>
</mujoco>
