<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <compiler angle="radian" coordinate="local" meshdir="../stls" texturedir="../textures"></compiler>
    <option timestep="0.002">
        <flag warmstart="enable"></flag>
    </option>

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

    <asset>
        <include file="shared_asset.xml"></include>
    </asset>

    <worldbody>
        <geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
        <body name="floor0" pos="0.8 0.75 0">
            <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
        </body>

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

        <body pos="1.3 0.5725 0.15" name="table0">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.25 0.1725 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3"></geom>
        </body>

        <body pos="1.3 0.9275 0.15" name="table1">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.25 0.1725 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3"></geom>
        </body>

        <body pos="1.2525 0.75 0.15" name="table2">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.2025 0.005 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3"></geom>
        </body>

        <body pos="1.5075 0.75 0.15" name="table3">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.0425 0.005 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3"></geom>
        </body>
        <!--		[1.36177789 0.74909766 0.55461739]-->
        <body name="object0" pos="1.46177789 0.74909766 0.45">
            <joint name="object0:joint" type="free"></joint>
<!--            <joint name="object0:joint" type="slide" axis="0 0 1" damping="0.5" limited="true" range="-0.138 10."-->
<!--                   frictionloss="1.0"></joint>-->
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" pos="0 0 -0.01" size="0.004 0.10" type="cylinder" condim="3" name="object0" material="block_mat" mass="0.5"></geom>
<!--            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" pos="0 0 -0.08" size="0.004 0.01" type="cylinder" condim="3" name="object0" material="block_mat" mass="0.5"></geom>-->
            <site name="object0" pos="0 0 0" size="0.02 0.02 0.10" rgba="1 0 0 1" 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>
    </worldbody>

<!--    <sensor>-->
<!--        <jointpos name="object0:h" joint="object0:joint"></jointpos>-->
<!--        <force name="object0:f" site="object0"></force>-->
<!--    </sensor>-->

    <!--	<actuator>-->
    <!--		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>-->
    <!--		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>-->
    <!--	</actuator>-->
</mujoco>
