<!-- =================================================
    Copyright 2021 Vikash Kumar
    Model   :: YCB (MuJoCoV2.0)
    Author  :: Vikash Kumar (vikashplus@gmail.com)
    Details :: https://github.com/vikashplus/ycb_sim
    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<mujoco model="YCB objects">

    <!-- Scene defaults -->
    <asset>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <!-- YCB assets and defaults -->
    <include file="includes/defaults_ycb.xml"/>
    <include file="includes/assets_004_sugar_box.xml"/>
    <include file="includes/assets_003_cracker_box.xml"/>
    <include file="includes/assets_030_fork.xml"/>
    <include file="includes/assets_031_spoon.xml"/>
    <include file="includes/assets_044_flat_screwdriver.xml"/>

    <worldbody>
        <!-- Set scene -->
        <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
        <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
        <geom name="ground" type="plane" size="2 2 1" pos="0 0 0" quat="1 0 0 0" material="matplane"/>

        <!-- object -->
        <!-- <body pos="0.0 0.0 0.01">
            <include file="includes/body_004_sugar_box.xml"/>
            <freejoint/>
        </body> -->

        <!-- object -->
        <!-- <body pos="0.1 0.0 0.01">
            <include file="includes/body_003_cracker_box.xml"/>
            <freejoint/>
        </body> -->

        <!-- object -->
        <body pos="0 -0.2 0.035" quat="0.707388 0.706825 0 0">
            <!-- <include file="includes/body_044_flat_screwdriver.xml"/> -->
            <!-- <include file="includes/body_030_fork.xml"/> -->
            <include file="includes/body_031_spoon.xml"/>
            <freejoint/>
        </body>

        <!-- <body pos="0 -0.4 0.035" quat="0.707388 0.706825 0 0"> -->
            <!-- <include file="includes/body_031_spoon.xml"/> -->
            <!-- <freejoint/> -->
        <!-- </body> -->

         <!-- <body pos="0 -0.6 0.035" quat="0.707388 0.706825 0 0"> -->
            <!-- <include file="includes/body_030_fork.xml"/> -->
            <!-- <freejoint/> -->
        <!-- </body> -->
    </worldbody>

</mujoco>
