
<mujoco model="sawyer">
    <compiler angle="radian" meshdir="meshes/" />
    <!-- <option gravity="0 0 0" /> -->
    <!-- <option impratio="0.01" /> -->
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="pedestal" file="pedestal.stl" />
        <mesh name="base" file="base.stl" />
        <mesh name="l0" file="l0.stl" />
        <mesh name="head" file="head.stl" />
        <mesh name="l1" file="l1.stl" />
        <mesh name="l2" file="l2.stl" />
        <mesh name="l3" file="l3.stl" />
        <mesh name="l4" file="l4.stl" />
        <mesh name="l5" file="l5.stl" />
        <mesh name="l6" file="l6.stl" />
        <mesh file="mug.stl" scale="0.0014419716113 0.0014419716113 0.0014419716113" name="object_mesh0"/>
        <mesh file="candle_holder.stl" scale="0.00221564763838 0.00221564763838 0.00221564763838" name="object_mesh1"/>
        <mesh scale="0.00391787640326 0.00391787640326 0.00391787640326" name="object_mesh2" file="Rook.stl"/>
        <mesh file="fox.stl" scale="0.00138148311578 0.00138148311578 0.00138148311578" name="object_mesh3"/>
        <mesh file="Gengar.stl" scale="0.000210652537981 0.000210652537981 0.000210652537981" name="object_mesh4"/>
        <mesh file="vase1.stl" scale="0.000775193841988 0.000775193841988 0.000775193841988" name="object_mesh5"/>
        <mesh file="Trophy.stl" scale="0.00449730778558 0.00449730778558 0.00449730778558" name="object_mesh6"/>
        <mesh file="cupcake.stl" scale="0.00191879658518 0.00191879658518 0.00191879658518" name="object_mesh7"/>
        <mesh file="Pawn.stl" scale="0.00338627830315 0.00338627830315 0.00338627830315" name="object_mesh8"/>
        <mesh name="object_mesh9" file="Love_Box_1.stl" scale="0.001411430619914 0.00141430619914 0.00211430619914"/>
        <!-- <texture file="table/wood-texture/pic_002.png" name="table_texture" type="2d" /> -->
        <!-- <material name="table_material" shininess="0.1" specular="0.4" texrepeat="1 1" texture="table_texture" /> -->
    </asset>

    <default>
        <joint limited="true" damping="1" stiffness="0" armature=".1" user="0"/>
        <geom solref="0.008 1" solimp="0.95 0.95 0.01" margin="0.001" user="0"/>
        <motor ctrllimited="true" ctrlrange="-1 1"/>
        <position ctrllimited="true"/>

        <default class='0'>
            <geom friction="1 0.005 0.001" rgba=".75 .6 .5 1" contype="1" conaffinity="0"/>
        </default>

        <default class='1'>
            <geom friction="1 0.005 0.001" rgba=".7 .6 .55 1" contype="1" conaffinity="0"/>
        </default>

        <default class='arm'>
            <joint damping="5"/>
        </default>
    </default>

    <equality>
        <weld body1="mocap" body2="leftclaw"></weld>
    </equality>

    <worldbody>
        <!-- <light directional="true" cutoff="40" exponent="10" diffuse=".4 .4 .4" specular=".7 .7 .7" pos="0 0 1.5" dir="0 0 -1"/> -->

        <geom name="tableTop" type="plane" pos="0 0.6 0" size="1. 0.4 0.5" rgba=".6 .6 .5 1" contype="1" conaffinity="1" />


        <geom name="tableTop2" type="plane" pos="0.6 0 0" size="0.4 0.4 0.5" rgba=".6 .6 .5 1" contype="1" conaffinity="1" />

        <geom name="tableTop3" type="plane" pos="-0.6 0 0" size="0.4 0.4 0.5" rgba=".6 .6 .5 1" contype="1" conaffinity="1" />

        <body name="sink" pos="0.8 0 0.01">
	        <geom type="box" pos="0 0 0" size="0.2 0.2 0.01" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0.2 0 0.1" size="0.01 0.2 0.1" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="-0.2 0 0.1" size="0.01 0.2 0.1" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0.2 0.1" size="0.2 0.01 0.1" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 -0.2 0.1" size="0.2 0.01 0.1" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	    </body>


	    <body name="cabinet" pos="-0.8 0 0.45">
	        <geom type="box" pos="0 0 0" size="0.2 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	        <!-- <geom type="box" pos="0.2 0 0.1" size="0.01 0.2 0.1" rgba="1 0 0 1" contype="1" conaffinity="1"/> -->
	        <geom type="box" pos="-0.2 0 0.2" size="0.01 0.2 0.2" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0.2 0.2" size="0.2 0.01 0.2"  contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 -0.2 0.2" size="0.2 0.01 0.2" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0 0.4" size="0.2 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0 0.2" size="0.2 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>

	        <body name="door" pos="0.25 0. 0.2">
	            <joint name="doorjoint" pos="0 0.2 0" axis="0 0 1" type="hinge" limited="true" range="0 3" damping="0.1" armature="0" />
	            <geom type="box" pos="0 0 0" size="0.01 0.2 0.2" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	           	<geom type="box" pos="0.05 -0.2 0" size="0.05 0.01 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	           	<geom type="box" pos="0.1 -0.1 0" size="0.01 0.1 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	        </body>

	    </body>

	    <body name="dishrack" pos="0.6 0.6 0.">
	        <geom type="box" pos="0 0 0" size="0.13 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	        <!-- <geom type="box" pos="0.2 0 0.1" size="0.01 0.2 0.1" rgba="1 0 0 1" contype="1" conaffinity="1"/> -->
	        <geom type="box" pos="0 0.2 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0.1 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0.0 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 -0.1 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 -0.2 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
	        

	    </body>


	    <body name="stove" pos="-0.6 0 0.">
	        <geom type="box" pos="0 0 0" size="0.22 0.3 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	        <geom type="cylinder" pos="-0.1 0.15 0.01" size="0.08 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="cylinder" pos="-0.1 0.15 0.01" size="0.08 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="cylinder" pos="-0.1 -0.15 0.01" size="0.08 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
   	       	<geom type="cylinder" pos="0.1 0.15 0.01" size="0.08 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="cylinder" pos="0.1 -0.15 0.01" size="0.08 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	        <!-- <geom type="box" pos="0.2 0 0.1" size="0.01 0.2 0.1" rgba="1 0 0 1" contype="1" conaffinity="1"/> -->

	    </body>

	    <body name="saucepan" pos="-0.6 0.6 0.">
	        
	        <!-- <geom type="cylinder" pos="0 0 0.01" size="0.08 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/> -->
	       	<geom type="box" pos="0 0 0.01" size="0.1 0.1 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="box" pos="-0.1 0 0.03" size="0.01 0.11 0.03" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="box" pos="0.1 0 0.03" size="0.01 0.11 0.03" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="box" pos="0 0.1 0.03" size="0.11 0.01 0.03" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="box" pos="0 -0.1 0.03" size="0.11 0.01 0.03" rgba="1 0 0 1" contype="1" conaffinity="1"/>
	       	<geom type="box" pos="0.2 0 0.05" size="0.1 0.02 0.02" rgba="0 0 0 1" contype="1" conaffinity="1"/>
	       	<joint name="saucepanjoint" type="free" limited='false' damping="0" armature="0" />
	    </body>


        <body name="base" pos="0 0 0">
            <site name="basesite" pos="0 0 0" size="0.01" />
            <inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
            <body name="controller_box" pos="0 0 0">
                <inertial pos="-0.325 0 -0.38" mass="46.64" diaginertia="1.71363 1.27988 0.809981" />
                <geom size="0.11 0.2 0.265" pos="-0.325 0 -0.38" type="box" rgba="0.2 0.2 0.2 1"/>
            </body>
            <body name="pedestal_feet" pos="0 0 0">
                <inertial pos="-0.1225 0 -0.758" mass="167.09" diaginertia="8.16095 9.59375 15.0785" />
                <geom size="0.385 0.35 0.155" pos="-0.1225 0 -0.758" type="box" rgba="0.2 0.2 0.2 1"/>
            </body>
            <body name="torso" pos="0 0 0">
                <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                <geom size="0.05 0.05 0.05" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" />
            </body>
            <body name="pedestal" pos="0 0 0">
                <inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" />
                <geom pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="pedestal" />
                <geom size="0.18 0.31" pos="-0.02 0 -0.29" type="cylinder" rgba="0.2 0.2 0.2 0" />
            </body>
            <body name="right_arm_base_link" pos="0 0 0">
                <inertial pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" mass="2.0687" diaginertia="0.00740351 0.00681776 0.00672942" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="base" />
                <geom size="0.08 0.12" pos="0 0 0.12" type="cylinder" rgba="0.5 0.1 0.1 0" />
                <body name="right_l0" pos="0 0 0.08">
                    <inertial pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" mass="5.3213" diaginertia="0.0651588 0.0510944 0.0186218" />
                    <joint name="right_j0" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0503 3.0503" damping="10"/>
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l0" />
                    <geom size="0.07" pos="0.08 0 0.23" rgba="0.5 0.1 0.1 0" />
                    <body name="head" pos="0 0 0.2965">
                        <inertial pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" mass="1.5795" diaginertia="0.0118334 0.00827089 0.00496574" />
                        <!-- <joint name="head_pan" pos="0 0 0" axis="0 0 1" limited="true" range="-5.0952 0.9064" damping="10"/> -->
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="head" />
                        <geom size="0.18" pos="0 0 0.08" rgba="0.5 0.1 0.1 0" />
                        <body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
                            <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                            <geom size="0.12 0.07 0.001" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 0" />
                            <geom size="0.001" rgba="0.2 0.2 0.2 0" />
                        </body>
                        <body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
                            <inertial pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" mass="0" diaginertia="0 0 0" />
                            <site name="headsite" pos="0 0 0" size="0.01" />
                        </body>
                    </body>
                    <body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                    </body>
                    <body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
                        <inertial pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" mass="4.505" diaginertia="0.0224339 0.0221624 0.0097097" />
                        <joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.8095 2.2736" damping="10"/>
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l1" />
                        <geom size="0.07" pos="0 0 0.1225" rgba="0.5 0.1 0.1 0" />
                        <body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
                            <inertial pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" mass="1.745" diaginertia="0.0257928 0.025506 0.00292515" />
                            <joint name="right_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0426 3.0426" damping="10"/>
                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l2" />
                            <geom size="0.06 0.17" pos="0 0 0.08" type="cylinder" rgba="0.5 0.1 0.1 0" />
                            <body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
                                <site name="armsite" pos="0 0 0" size="0.01" />
                                <inertial pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" mass="2.5097" diaginertia="0.0102404 0.0096997 0.00369622" />
                                <joint name="right_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0439 3.0439" damping="10"/>
                                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l3" />
                                <geom size="0.06" pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 0" />
                                <body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
                                    <inertial pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" mass="1.1136" diaginertia="0.0136549 0.0135493 0.00127353" />
                                    <joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10" />
                                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l4" />
                                    <geom size="0.045 0.15" pos="0 0 0.11" type="cylinder" rgba="0.5 0.1 0.1 0" />
                                    <body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
                                        <inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
                                    </body>
                                    <body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
                                        <inertial pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" mass="1.5625" diaginertia="0.00474131 0.00422857 0.00190672" />
                                        <joint name="right_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10"/>
                                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l5" />
                                        <geom size="0.06" pos="0 0 0.1" rgba="0.5 0.1 0.1 0" />
                                        <body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
                                            <inertial pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" mass="0" diaginertia="0 0 0" />
                                        </body>
                                        <body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
                                            <inertial pos="0 0 0.10541" quat="0.707107 0.707107 0 0" mass="0" diaginertia="0 0 0" />
                                        </body>
                                        <body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
                                            <inertial pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" mass="0.3292" diaginertia="0.000360258 0.000311068 0.000214974" />
                                            <joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-4.7124 4.7124" damping="10"/>
                                            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l6" />
                                            <geom size="0.055 0.025" pos="0 0.015 -0.01" type="cylinder" rgba="0.5 0.1 0.1 0" />
                                            <body name="right_hand" pos="0 0 0.0245" quat="0.707107 0 0 0.707107">
                                                <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                                                <geom size="0.035 0.015" pos="0 0 0.02" type="cylinder" rgba="0.2 0.2 0.2 0"/>

<!--  ================= BEGIN GRIPPER ================= /-->
                                                <body name="claw" pos="0 0 0" quat="-1 0 1 0">
                                                    <geom class="1" name="Geomclaw" type="box" size="0.01 0.04 0.01" />

                                                    <body name="rightclaw" pos=".01 -.02 0" >
                                                        <geom name="rightclaw_it" class="1" type="box" pos="0 0 0" size="0.05 0.005 0.005" friction="0.001 0.005 0.0001" rgba="0.0 1.0 0.0 1.0"/>
                                                        <joint name="rc_close" type="slide" pos="0 0 0" axis="0 1 0" range="0 0.03" user="008"/>
                                                    </body>

                                                    <body name="leftclaw" pos=".01 .02 0">
                                                        <geom name="leftclaw_it" class="1" type="box" pos="0 0 0" size="0.05 0.005 0.005" friction="0.001 0.005 0.0001" rgba="0.0 1.0 0.0 1.0"/>
                                                        <site name="endeffector" pos="0 0 0" size="0.01" />
                                                        <!-- <body name="endeff" pos=".01 .02 0"> -->
                                                            <!-- <geom name="leftclaw_it" class="1" type="capsule" fromto="0 0 0 .05 0.0 0.0"    size="0.005" /> -->
                                                            <!-- <site name="endeffector" pos="0 0 0" size="0.01" /> -->
                                                        <!-- </body> -->
                                                    </body>
                                                </body>
<!--  ================= END GRIPPER ================= /-->

                                            </body>
                                        </body>
                                    </body>
                                    <body name="right_l4_2" pos="0 0 0">
                                        <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                                        <geom size="0.06" pos="0 0.01 0.26" rgba="0.2 0.2 0.2 0"/>
                                    </body>
                                </body>
                            </body>
                            <body name="right_l2_2" pos="0 0 0">
                                <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                                <geom size="0.06" pos="0 0 0.26" rgba="0.2 0.2 0.2 0"/>
                            </body>
                        </body>
                        <body name="right_l1_2" pos="0 0 0">
                            <inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
                            <geom size="0.07 0.07" pos="0 0 0.035" type="cylinder" rgba="0.2 0.2 0.2 0"/>
                        </body>
                    </body>
                </body>
            </body>
        </body>

        <body mocap="true" name="mocap" pos="0.2369680365278436 0.7377722688452103 0.30233579064225752">
            <geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.0" size="0.02 0.02 0.02" type="box"></geom>
        </body>

<!--         <body name="block" pos="0 0.7 0">
            <joint name="blockjoint" type="free" limited='false' damping="0" armature="0" />
            <geom name="blockbox" type="box" pos="0 0 0" size="0.02 0.02 0.02" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
            <site name="block" pos="0 0 0" size="0.01" />
        </body> -->

<!--         <body name="obj1" pos="0 0.8 0">
            <geom density="0.001" mesh="object_mesh0" contype="1" conaffinity="1" type="mesh" rgba="0.1 0.3 0.4 1"/>
            <joint name="obj1joint" type="free" limited='false' damping="0" armature="0" />
        </body>
 -->

        <body name="cup" pos="0.1 0.8 0">
	        <geom type="box" pos="0 0 0" size="0.05 0.05 0.005" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0.05 0 0.05" size="0.001 0.05 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="-0.05 0 0.05" size="0.001 0.05 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0.05 0.05" size="0.05 0.001 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 -0.05 0.05" size="0.05 0.001 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
            <joint name="cupjoint" type="free" limited='false' damping="0" armature="0" />
        </body>


        <body name="cup2" pos="0.1 0.6 0">
	        <geom type="box" pos="0 0 0" size="0.05 0.05 0.005" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0.05 0 0.05" size="0.001 0.05 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="-0.05 0 0.05" size="0.001 0.05 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 0.05 0.05" size="0.05 0.001 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
	        <geom type="box" pos="0 -0.05 0.05" size="0.05 0.001 0.05" rgba=".1 .1 .9 1" contype="1" conaffinity="1"/>
            <joint name="cup2joint" type="free" limited='false' damping="0" armature="0" />
        </body>

        <body name="granular_media1" pos="0.1 0.8 0.1">
	        <geom type="sphere" pos="0 0 0" size="0.009" rgba="0 0 0 1" contype="1" conaffinity="1"/>
            <joint name="granular_media1joint" type="free" limited='false' damping="0" armature="0" />
        </body>



        <body name="granular_media2" pos="0.1 0.8 0.1">
	        <geom type="sphere" pos="0 0 0" size="0.009" rgba="0 0 0 1" contype="1" conaffinity="1"/>
            <joint name="granular_media2joint" type="free" limited='false' damping="0" armature="0" />
        </body>



        <body name="granular_media3" pos="0.1 0.8 0.1">
	        <geom type="sphere" pos="0 0 0" size="0.009" rgba="0 0 0 1" contype="1" conaffinity="1"/>
            <joint name="granular_media3joint" type="free" limited='false' damping="0" armature="0" />
        </body>


        <body name="granular_media4" pos="0.1 0.8 0.1">
	        <geom type="sphere" pos="0 0 0" size="0.009" rgba="0 0 0 1" contype="1" conaffinity="1"/>
            <joint name="granular_media4joint" type="free" limited='false' damping="0" armature="0" />
        </body>



        <body name="granular_media5" pos="0.1 0.8 0.1">
	        <geom type="sphere" pos="0 0 0" size="0.009" rgba="0 0 0 1" contype="1" conaffinity="1"/>
            <joint name="granular_media5joint" type="free" limited='false' damping="0" armature="0" />
        </body>



        <body name="granular_media6" pos="0.1 0.8 0.1">
	        <geom type="sphere" pos="0 0 0" size="0.009" rgba="0 0 0 1" contype="1" conaffinity="1"/>
            <joint name="granular_media6joint" type="free" limited='false' damping="0" armature="0" />
        </body>


<!-- 
        <body name="obj2" pos="0 0.6 0">
            <geom density="0.001" mesh="object_mesh1" contype="1" conaffinity="1" type="mesh" rgba=".5 .5 .5 1"/>
            <joint name="obj2joint" type="free" limited='false' damping="0" armature="0" />
        </body> -->


        <body name="goal" pos="0 0 0">
            <joint name="goaljoint" type="free" limited='false' damping="0" armature="0" />
            <geom name="goalbox" type="sphere" pos="0 0 0" size="0.02" rgba=".9 .1 .1 1" contype="0" conaffinity="0"/>
            <site name="goal" pos="0 0 0" size="0.01" />
        </body>

    </worldbody>

    <actuator>
        <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor gear="1" joint="rc_close" name="slide"/>
    </actuator>

</mujoco>