<mujoco model="panda">
    <option collision="all" timestep="0.001" gravity="0 0 -9.81" cone="elliptic" />
    <compiler angle="radian" />

    <visual>
        <headlight ambient="0.4 0.4 0.4" diffuse="0.4 0.4 0.4" specular="0.0 0.0 0.0" active="1" />
    </visual>

    <include file="panda.xml" />

    <worldbody>
        <geom name="Table" type="box" pos="0.56428 0.000584 0.2099115" size="0.2265785 0.3210245 0.2099115" rgba=".5 .5 .5 1" />
        <geom name="pick_tray" type="box" pos="0.56428 -0.215704 0.419773" size="0.1175175 0.072463 0.01167" rgba=".0 .0 .5 1" />
        <geom name="place_tray" type="box" pos="0.56428 0.215704 0.419773" size="0.1175175 0.072463 0.01167" rgba=".5 .0 .0 1" />
    </worldbody>

    <worldbody>
        <body name="stone" pos="0.56428 -0.221972 0.475172">
            <freejoint/>
            <geom type="box" size=".0125 .016 .032" rgba=".5 .5 .5 1" />
            <inertial pos="0 0 0" mass="0.08" diaginertia="0.01 0.01 0.01"/>
        </body>
    </worldbody>

</mujoco>
