<!-- Author: vikash@openai.com-->
<mujoco model='tosser-v1.5'>
    <compiler inertiafromgeom='auto' angle='radian'/>

    <default>
        <joint limited='true' damping='1' armature='0'/>
        <geom contype='1' conaffinity='1' condim='3' rgba='0.8 0.6 .4 1'
        	margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
        <motor ctrlrange='-1 1'  ctrllimited='true'/>
    </default>

    <option timestep='0.002' iterations="50" solver="PGS">
        <flag energy="enable"/>
    </option>

    <visual>
        <map fogstart="3" fogend="5" force="0.1" znear="0.1"/>
        <quality shadowsize="2048"/>
        <global offwidth="800" offheight="800"/>
    </visual>

    <asset>
		<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" 
            rgb2="0 0 0"/>  
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" 
            rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>  
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" 
            width="512" height="512"/>  

        <material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name='geom' texture="texgeom" texuniform="true"/>
    </asset>

	
	
    <worldbody>     
        <light directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 -.15 -1'/>
		<geom name='floor' pos='0 -1 0' size='1.5 3 .125' type='plane' material="MatPlane" condim='3'/>
				
		<body name='wall' pos='0 0 0'>
			<geom name='wall' pos='0 0 .5' size='.02 .5' type='capsule' rgba='.73 .4 .4 1'/>		
			<body name='hand' pos='0 0 0'>
				<geom name='palm' type='capsule' size='.02' fromto='0 0 .7 0 -.1 .6'/>
				<geom name='finger' type='capsule' size='.02' fromto='0 -.1 .6 0 -.15 .6'/>
				<joint name='wr_js' type='slide' pos='0 0 .7' axis='0 0 1' range='-.6 .25' damping='10'/>
				<joint name='wr_jr' type='hinge' pos='0 0 .7' axis='1 0 0' range='-1.57 0.8'/>
			</body>
		</body>
			
		<body name='obj' pos='0 -.08 1'>
			<!--<geom name='obj' type='box' size='.05 .05 0.05'/>-->
			<!--<geom name='obj' type='sphere' size='.05'/>-->
			<geom name='obj' type='capsule' size='.05 .075'/>
			<joint name='ballz' type='slide' axis='0 0 1' limited='false' damping='.01'/>
			<joint name='bally' type='slide' axis='0 1 0' limited='false' damping='.01'/>
			<joint name='ballx' type='hinge' axis='1 0 0' limited='false' damping='.01'/>
		</body>
		
		<body name='basket1' pos='0 -1 0'>
			<geom pos='0 -.1 .12' type='capsule' size='.02 .1' rgba='1 .4 .4 1' condim='1' euler='.2 0 0'/>
			<geom pos='0  .1 .12' type='capsule' size='.02 .1' rgba='1 .4 .4 1' condim='1' euler='-.2 0 0'/>
			<geom pos='0  0 .02' type='capsule' size='.02 .08' rgba='1 .4 .4 1' condim='1' euler='1.57 0 0'/>
			<site name='t1' pos='0 0 .03' type='box' group='4' size='.02 .1 .02'/>
		</body>
		<body name='basket2' pos='0 -1.5 0'>
			<geom pos='0 -.1 .12' type='capsule' size='.02 .1' rgba='.4 1 .4 1' condim='1' euler='.2 0 0'/>
			<geom pos='0  .1 .12' type='capsule' size='.02 .1' rgba='.4 1 .4 1' condim='1' euler='-.2 0 0'/>
			<geom pos='0  0 .02' type='capsule' size='.02 .08' rgba='.4 1 .4 1' condim='1' euler='1.57 0 0'/>
			<site name='t2' pos='0 0 .03' type='box' group='4' size='.02 .1 .02'/>
		</body>
          
	</worldbody>

    <actuator>
		<motor name='a1' 	gear='35' joint='wr_js'/>
		<motor name='a2'    gear='35' joint='wr_jr' />
    </actuator>
	
	<sensor>
		<jointpos name="Sjp_wr_js"	joint="wr_js"/>
		<jointpos name="Sjp_wr_jr"	joint="wr_jr"/>
		<touch name="s_t1"	site="t1"/>
		<touch name="s_t2"	site="t2"/>
	</sensor>

</mujoco>