<?xml version="1.0"?>
<mujoco model="HV_Table_room">
  <compiler angle="radian" meshdir="" texturedir=""/>
  <include file="../room/dependencies/room_asset.xml"/>
  <include file="../cleanbot/resources/hv_asset.xml"/>
  <include file="../furniture/chair_ssc/chair_ssc_asset.xml"/>
  <include file="../furniture/lamp/lamp_asset.xml"/>
  <include file="../furniture/painting/painting_asset.xml"/>
  <include file="../furniture/studyTable/studyTable_asset.xml"/>
  <include file="../furniture/bin/bin_asset.xml"/>
  <include file="../furniture/table/table_asset.xml"/>
  <include file="../furniture/rug/rug_asset.xml"/>
  <include file="../furniture/clock/clock_asset.xml"/>
  <include file="../furniture/plant/plant_asset.xml"/>
  <size nconmax="500" njmax="600" nuser_body="9" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_actuator="16" nuser_sensor="1"/>
  <visual>
    <scale forcewidth="0.01" contactwidth="0.01" contactheight="0.01" connect="0.01" com="0.025" camera="0.1" light="0.1" selectpoint="0.05" jointlength="0.075" jointwidth="0.01" framelength="0.075" framewidth="0.01" actuatorlength="0.075" actuatorwidth="0.01" constraint="0.01" slidercrank="0.01"/>
  </visual>
  <!-- Bind mocap -->
  <equality>
    <weld body1="vive_controller" body2="LINK_EOAS" solref="0.02 1" solimp=".7 .95 0.050"/>
  </equality>
  <worldbody>
    <light class="Light" pos="-1.7 -2.8 2"/>
    <light class="Light" pos="0.4 -1 2.8" dir="-0.4 1 -3"/>
    <light class="Light" pos="0 0 2.8" dir="0 -1 -1"/>
    <geom contype="1" conaffinity="1" type="plane" pos="0 0 0" size="4 4 0.25" material="groundplane"/>
    <body name="vive_controller" mocap="true" pos="-0.45 -1.25 1.645" euler="1.57 0 0">
      <geom class="viz" rgba=".9 1 .9 .5" mesh="EOAS" euler="1.57 3.14 1.57" pos="0 0 0" group="4"/>
    </body>
    <body name="frame" pos="-0.45 -0.92 0">
      <include file="../cleanbot/resources/hv_body.xml"/>
    </body>
    <body name="room" pos="0 0 0">
      <include file="../room/dependencies/room_body.xml"/>
    </body>
    <body name="StudyTable" pos="0 -.4 -0.2">
      <include file="../furniture/studyTable/studyTable_body.xml"/>
    </body>
    <body name="Bin" pos="0.4 -0.9 0">
      <include file="../furniture/bin/bin_body.xml"/>
    </body>
    <body name="chair_ssc" pos="-0.7 -2.7 0.02" axisangle="0 0 1 2">
      <include file="../furniture/chair_ssc/chair_ssc_body.xml"/>
    </body>
    <body name="Table" pos=".1 -1.85 0.02" axisangle="0 0 1 5">
      <include file="../furniture/table/table_body.xml"/>
    </body>
    <body name="Lamp" pos="-1.7 -2.8 0">
      <include file="../furniture/lamp/lamp_body.xml"/>
    </body>
    <body name="Rug" pos="0 -2.2 0.01">
      <include file="../furniture/rug/rug_body.xml"/>
    </body>
    <body name="Painting" pos="0 .305 1.5" axisangle="0 0 1 3.14">
      <include file="../furniture/painting/painting_body.xml"/>
    </body>
    <body name="clock" pos="-2.05 -1.75 2" axisangle="1 0 1 3.14">
      <include file="../furniture/clock/clock_body.xml"/>
    </body>
    <body name="plant" pos="-3.5 -0.1 0">
      <include file="../furniture/plant/plant_body.xml"/>
    </body>
    <body name="Block1" pos="0 -.5 0.46" euler="0 1.57 0">
      <geom type="box" size=".03 .03 .09" rgba="0.8 0.7 0.9 1.0"/>
      <joint type="free" limited="false"/>
    </body>
    <body name="Block2" pos="0.3 -0.25 0.66" euler="0 0 -.4">
      <geom type="box" size=".03 .03 .09" rgba="0.7 0.9 0.9 1.0"/>
      <joint type="free" limited="false"/>
    </body>
    <body name="Block3" pos="0.12 -0.25 0.66" euler="0 0 -.2" user="1001 0 2002 0.6 0.1 0 0.9 0.8 3">
      <geom type="box" size=".03 .03 .09" rgba="0.5 0.9 0.9 1.0"/>
    </body>
  </worldbody>
</mujoco>
