<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <default>
        <joint armature="0" damping="0" limited="true"/>
        <geom contype="0" friction="1.0 1.0  1.0" rgba="0.7 0.7 0 1" solimp=".5 .5 .001" solref=".02 1" condim="1"/>
    </default>
    <option integrator="RK4" timestep="0.001" gravity="0 0 0.0"/>
    <size nconmax="1000" njmax="5000"/>
    <asset>
        <mesh file="../furniture/bookcase.stl" name="bookcase"/>
    </asset>
	<include file="../common/white_skybox.xml"/>
	<include file="../common/visual.xml"/>
	<include file="../common/materials.xml"/>
    <include file="wam.xml"></include>

    <worldbody>

        <!-- <body name="table" pos="-0.5 0.3 -0.35">
        <geom pos="0 0 0" rgba="1 1 1 1.0" size="0.5 0.3 0.35" type="box" name="table" conaffinity="0" contype="0" condim="1" mass="2000" ></geom>
        <geom conaffinity="0" contype="0" name="table-top" pos="0 0 0.35" rgba="0.5 0.5 0.5 0.0" size="0.5 0.3 0.001" type="plane" condim="3" friction="0.1 0.1 0.1"/>
        </body> -->

       <body name="bookcase" pos="-0.1 0.0 -0.7" euler="0 0 4.7124">
<!--             <geom conaffinity="0" contype="0" condim="3" name="center" pos="0 0 0" rgba="0. 0. 1.0 1" size=".009" type="sphere"/> -->
            <!-- <geom rgba="0.82 0.5 0.34 1" name="bc:mesh" type="mesh" mesh="bookcase" contype="0" conaffinity="0"/> -->

            <!-- <site name="bookcase:pos0" pos="0.2 0.1 0.9" euler="0 0 0." rgba="1 1 0 1" size="0.01" type="sphere"></site> -->
            <!-- <site name="bookcase:pos1" pos="0.55 0.1 0.9" euler="0 0 0." rgba="1 1 0 1" size="0.01" type="sphere"></site> -->

            <!-- <site name="bookcase:pos2" pos="0.2 0.2 1.25" euler="0 0 0." rgba="1 1 0 1" size="0.01" type="sphere"></site> -->
            <!-- <site name="bookcase:pos3" pos="0.55 0.20 1.25" euler="0 0 0." rgba="1 1 0 1" size="0.01" type="sphere"></site> -->

            <site name="bookcase:pos0" pos="0.375 0.1 0.9" euler="0 0 0." rgba="1 1 0 0.0" size="0.01" type="sphere"></site>

            <site name="bookcase:pos1" pos="0.375 0.1 1.25" euler="0 0 0." rgba="1 1 0 0.0" size="0.01" type="sphere"></site>


            <geom conaffinity="11" contype="11" name="shelf_bottom_1" pos="0.38 0.2 0.75" rgba="0.41 0.27 0.01 1.0" size="0.35 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <geom conaffinity="11" contype="11" name="shelf_bottom_2" pos="0.38 0.2 1.1" rgba="0.5 0.5 0.5 0" size="0.33 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <!-- <geom conaffinity="0" contype="0" name="shelf_bottom_1_viz" pos="0.38 0.2 0.75" rgba="1.0 0.5 0.5 0.2" size="0.35 0.2 0.001" type="box"/> -->
            <geom conaffinity="0" contype="0" name="shelf_bottom_2_viz" pos="0.38 0.2 1.1" rgba="0.41 0.27 0.01 1.0" size="0.35 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <!-- <geom conaffinity="0" contype="0" name="shelf_bottom_3" pos="0.38 0.2 1.43" rgba="0.5 0.5 0.5 0.0" size="0.35 0.2 0.1" type="plane" condim="3" friction="0.01 0.01 0.01"/> -->

            <geom conaffinity="11" contype="11" name="shelf_left_1" pos="0.73 0.2 1.10" euler="0 1.5708 0" rgba="0.5 0.5 0.5 0.0" size="0.35 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <geom conaffinity="11" contype="11" name="shelf_left_3" pos="0.03 0.2 1.10" euler="0 1.5708 0" rgba="0.5 0.5 0.5 0.0" size="0.35 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <geom conaffinity="0" contype="0" name="shelf_left_1_viz" pos="0.73 0.2 1.10" euler="0 1.5708 0" rgba="0.41 0.27 0.01 1.0" size="0.35 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <geom conaffinity="0" contype="0" name="shelf_left_3_viz" pos="0.03 0.2 1.10" euler="0 1.5708 0" rgba="0.41 0.27 0.01 1.0" size="0.35 0.2 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <geom conaffinity="11" contype="11" name="shelf_back" pos="0.4 0.4 0.9" euler="1.5708 0 0" rgba="0.5 0.5 0.5 0.0" size="0.32 0.13 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>

            <geom conaffinity="11" contype="11" name="shelf_back2" pos="0.4 0.4 1.25" euler="1.5708 0 0" rgba="0.5 0.5 0.5 0.0" size="0.32 0.13 0.001" type="box" condim="3" friction="0.01 0.01 0.01"/>
        </body>

        <site name="top-shelf-center" pos="-0.1 -0.38 0.4" euler="0 0 0." rgba="1 1 0 0" size="0.02 0.02 0.02" type="sphere"></site>
        <site name="bottom-shelf-center" pos="-0.1 -0.38 0.05" euler="0 0 0." rgba="1 1 0 0" size="0.02 0.02 0.02" type="sphere"></site>

        <body name="object0" pos="0 0 0" euler="0 0 0">
            <!-- <joint name="object0:joint" type="free" damping="0.5" limited="false"></joint> -->
            <geom name="object0" conaffinity="1" contype="1" condim="3" pos="0 0 0" rgba="1 0 0 1.0" friction="1.0 1.0 1.0" size="0.03 0.05 0.03" type="cylinder" mass="1.0"></geom>
        </body>

        <light directional="true" ambient="0.1 0.1 0.1" diffuse="0.8 0.8 0.8" specular="0.2 0.2 0.2" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>

    </worldbody>

    <actuator></actuator>
</mujoco>
