<mujoco model="sawyer_lift">
    <include file="./common/sawyer_no_gripper.xml" />
    <default>
    </default>
      <asset>
    <texture file="../textures/light-wood.png" type="2d" name="tex-light-wood"/>
    <texture file="../textures/dark-wood.png" type="2d" name="tex-dark-wood"/>
    <material name="light-wood" reflectance="0.5" texrepeat="15 15" texture="tex-light-wood" texuniform="true"/>
    <material name="dark-wood" reflectance="0.5" texrepeat="5 5" texture="tex-dark-wood" texuniform="true"/>
</asset>
    <visual>
        <headlight ambient=".5 .5 .5" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
        <map znear=".01"/>
        <quality shadowsize="2048"/>
    </visual>
    <worldbody>
    <body name="table" pos="1.05 0.0 0.8">
        <geom pos="0 0 0" size="0.4 0.4 0.02" type="box" friction="1 0.005 0.0001"/>
        <geom pos="0 0 0" material="light-wood" size="0.4 0.4 0.02" type="box" conaffinity="0" contype="0" group="1"/>
        <geom pos="0.38 0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" friction="1 0.005 0.0001" rgba="0 0 1 1" />
        <geom pos="0.38 0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" conaffinity="0" contype="0" group="1" material="light-wood"/>
        <geom pos="-0.38 -0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" friction="1 0.005 0.0001" rgba="0 0 1 1" />
        <geom pos="-0.38 -0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" conaffinity="0" contype="0" group="1" material="light-wood"/>
        <geom pos="-0.38 0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" friction="1 0.005 0.0001" rgba="0 0 1 1" />
        <geom pos="-0.38 0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" conaffinity="0" contype="0" group="1" material="light-wood"/>
        <geom pos="0.38 -0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" friction="1 0.005 0.0001" rgba="0 0 1 1" />
        <geom pos="0.38 -0.38 -0.4" size="0.02 0.4 0.08" type="cylinder" conaffinity="0" contype="0" group="1" material="light-wood"/>
    </body>
    <body name="bin1" pos="0.93 0.0 1.02" quat="0 1 0 1">
        <geom friction="1 0.005 0.0001" pos="0 0.18 0.05" rgba="0 0 1 1" size="0.21 0.01 0.2" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="dark-wood" pos="0 0.18 0.05" size="0.21 0.01 0.20" type="box" />
        <geom friction="1 0.005 0.0001" pos="0 -0.18 0.05" rgba="0 0 1 1" size="0.21 0.01 0.2" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="dark-wood" pos="0 -0.18 0.05" size="0.21 0.01 0.2" type="box" />
        <geom friction="1 0.005 0.0001" pos="0.2 0 0.05" rgba="0 0 1 1" size="0.01 0.18 0.2" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="dark-wood" pos="0.2 0 0.05" size="0.01 0.18 0.2" type="box" />
        <geom friction="1 0.005 0.0001" pos="-0.2 0 0.05" rgba="0 0 1 1" size="0.01 0.18 0.2" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="dark-wood" pos="-0.2 0 0.05" size="0.01 0.18 0.2" type="box" />
    </body>

        <body name="cube" pos="0.92 0.0 0.88">
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <!-- <inertial pos="0 0 0" mass="500" diaginertia="1000 1000 1000"/> -->
            <!-- <inertial pos="0 0 0" mass="250" diaginertia="1000 1000 1000"/> -->
            <!-- <inertial pos="0 0 0" mass="150" diaginertia="1000 1000 1000"/> -->
            <!-- <geom contype="1" density="100" conaffinity="1" friction="0.95 0.3 0.1" condim="4" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.03 0.03 0.03" type="box" solimp="0.99 0.99 0.01" solref="0.001 1"/> -->
            <geom contype="1" density="300" conaffinity="1" friction="0.95 0.3 0.1" condim="4" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.03 0.03 0.03" type="box"/>
            <site name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" />
            <joint name="cube" type="free" damping="0.0005"/>
        </body>
        <body name="target" pos="1.04 0.0 0.85">
            <joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.3 .3" stiffness="0" type="slide"/>
            <joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.3 .3" stiffness="0" type="slide"/>
            <geom conaffinity="0" contype="0" group="0" name="target" pos="0 0 0" rgba="0.2 0.8 0.2 1" size=".030 .001 .001" type="cylinder"/>
        </body>
    </worldbody>
</mujoco>
