<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
	<option timestep="0.002"><!--todo check if this is correct(used for moving obstacle)-->
		<flag warmstart="enable"></flag>
	</option>

	<include file="shared.xml"></include>
	
	<worldbody>
		<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat" rgba="1 1 1 0"></geom>
		<body name="floor0" pos="0.8 0.75 0">
			<site name="target0" pos="0 0 0.5" size="0.025 0.025" rgba="1 0 0 0" type="cylinder"></site>
		</body>

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

		<body pos="1.3 0.75 0.2" name="table0"><!--0.2-->
			<geom size="0.3 0.3 0.2" type="box" mass="2000" material="table_mat" rgba="1 1 1 1"></geom>
			<site name="target_center" pos="-0.07 -0.2 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="init_center" pos="-0.07 0.2 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="init_1" pos="-1.875 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0" type="sphere"></site>
			<site name="init_2" pos="-1.25 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0" type="sphere"></site>
			<site name="init_3" pos="-0.625 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0" type="sphere"></site>
			<site name="init_4" pos="0 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0" type="sphere"></site>
			<site name="mark1" pos="0.625 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="mark2" pos="1.25 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="mark3" pos="1.875 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="mark4" pos="-1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
		</body>

		<body pos="1.3 0.75 0.6" name="space0">
			<site name="spacesite" size="0.25 0.25 0.2" rgba="0 0 1 0" type="box"></site>
			<!--geom name="obstacle" pos="-0.07 0 -0.1" size="0.18 0.04 0.1" type="box" mass="2000" material="table_mat"></geom-->
		</body>
		<body pos="1.245 0.66 0.435" name="obstacle">
			<!--limited="true" range="-.05 .05"  damping='0.01' armature='0' frictionloss='0.1'-->
			<geom name="o" pos="0 0 0" size="0.14 0.018 0.035" type="box" rgba="0 0 1 1" mass="2000" material="table_mat"></geom>
			<joint name="obstacle:joint" type="slide" axis="1 0 0" limited="true" range="-.075 .075" margin="0.098"></joint>
		</body>

		<body pos="1.355 0.84 0.435" name="obstacle2">
			<!--limited="true" range="-.05 .05"  damping='0.01' armature='0' frictionloss='0.1'-->
			<geom name="o2" pos="0 0 0" size="0.14 0.018 0.035" type="box" rgba="0 0 1 1" mass="2000" material="table_mat"></geom>
			<joint name="obstacle2:joint" type="slide" axis="1 0 0" limited="true" range="-.075 .075" margin="0.098"></joint>
		</body>

		<body name="object0" pos="1.3 0.925 0.425">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom size="0.045 0.025" rgba="1 0 0 1" type="cylinder" condim="3" mass="2" material="block_mat"></geom>-->
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
		</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>
		<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.2 0.2 0.2" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 -300" dir="0 0 1" name="light1"></light>
	</worldbody>
	
	<!--actuator>
		<motor name='bossx' gear='50' joint='obstacle:joint' ctrlrange='-1 1'  ctrllimited='true'/>
	</actuator>
	<sensor>
		<jointpos name="obstacle:joint"	joint="obstacle:joint"/>
	</sensor-->
</mujoco>
