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

	<include file="shared.xml"></include>

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

		<include file="robot.xml"></include>

		<body name="table0" pos="1.3 0.75 0.2">
			<!--geom size="0.625 0.45 0.2" type="box" condim="3" name="table0"
				  material="table_mat" mass="2000" friction="0.12 0.005 0.0001" solref="0.01 1"></geom-->
			<geom size="0.625 0.45 0.2" type="box" condim="3" name="table0"
				  material="table_mat" mass="2000" friction="0.12 0.005 0.0001" solref="0.01 1"></geom>
		</body>

		<body pos="1.26 0.75 0.5" name="obstacle">
			<geom name="o" pos="0 0 0" size="0.04 0.17 0.1"
				  type="box" rgba="0 0 1 1" mass="200"
				  material="table_mat" solref="0.01 1"></geom>
			<joint name="obstacle:joint" type="slide" axis="0 1 0" limited="true"
				   damping="0.01" range="-0.21 0.21" margin="0.03"></joint>
		</body>

		<body name="object0" pos="1.12 0.75 0.422">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<!--geom size="0.05 0.02" type="cylinder" rgba="1 0 0 1" condim="3" name="object0" material="puck_mat"
				  solref="0.01 1" mass="2" friction="0.12 0.005 0.0001"></geom-->
			<geom size="0.055 0.02" type="cylinder" rgba="1 0 0 1" condim="3" name="object0" material="puck_mat"
				  solref="0.01 1" mass="2" friction="0.12 0.005 0.0001"></geom>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
		</body>

		<!--body pos="1.26 0.75 0.5" name="spaceObstacle">
			<site name="siteObstacle" size="0.04 0.45 0.1" rgba="0 0 1 0.2" type="box"></site>
			<site name="smark1" pos="-0.04 -0.45  -0.1" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="smark2" pos="-0.04 0.45  -0.1" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="smark3" pos="0.04 -0.45  -0.1" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="smark4" pos="0.04 0.45  -0.1" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
		</body>

		<body pos="1.65 1.12 0.41" name="spaceGoal">
			<site name="siteGoalp" size="0.04 0.04 0.01" rgba="0 1 0 0.4" type="box"></site>
			<site name="emark1" pos="-0.04 -0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="emark2" pos="-0.04 0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="emark3" pos="0.04 -0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="emark4" pos="0.04 0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
		</body>

		<body pos="1.65 0.38 0.41" name="spaceGoal2">
			<site name="siteGoalp2" size="0.04 0.04 0.01" rgba="0 1 0 0.4" type="box"></site>
			<site name="e2mark1" pos="-0.04 -0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="e2mark2" pos="-0.04 0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="e2mark3" pos="0.04 -0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="e2mark4" pos="0.04 0.04 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
		</body>

		<body pos="1.11 0.75 0.41" name="spacePuck">
			<site name="sitePuck" size="0.1 0.07 0.01" rgba="1 0 0 0.2" type="box"></site>
			<site name="pmark1" pos="-0.1 -0.07 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="pmark2" pos="-0.1 0.07 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="pmark3" pos="0.1 -0.07 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
			<site name="pmark4" pos="0.1 0.07 -0.01" size="0.01 0.01 0.01" rgba="0 0 0 1" type="sphere"></site>
		</body-->

		<body name="lookat" pos="1.45 .75 0.1">
			<site size="0.005 0.005 0.005" type="sphere" rgba="1 0 0 0"></site>
		</body>
		<body name="camera rig" pos="1.45 .75 4.">
			<camera name="cam_top" mode="targetbody" target="lookat" pos="0 0 0" fovy="15"></camera>
		</body>

		<!--body name="lookat" pos="1.15 .7 0.425">
			<site size="0.005 0.005 0.005" type="sphere" rgba="1 0 1 0"></site>
		</body>

		<body name="camera rig" pos="1.15 -0.1 1.8">
			<camera name="cam_top" mode="targetbody" target="lookat" pos="0 0 0" fovy="60"></camera>
		</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"></light>
	</worldbody>

	<actuator></actuator>
</mujoco>