<mujoco model="hole">

        <!--  <geom pos="0 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.3 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 -0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>-->
		
 <asset>
<!--		<mesh file="meshes/object/Sphere_hull_1.stl" name="1" scale="2.5 2.5 3" />-->
<!--			-->
<!--			<mesh file="meshes/object/Cube_hull_1.stl" name="2" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_2.stl" name="3" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_3.stl" name="4" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_4.stl" name="5" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_5.stl" name="6" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_6.stl" name="7" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_7.stl" name="8" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_hull_8.stl" name="9" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_001_hull_1.stl" name="10" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_002_hull_1.stl" name="11" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_003_hull_1.stl" name="12" scale="2.5 2.5 3" />-->
<!--			<mesh file="meshes/object/Cube_004_hull_1.stl" name="13" scale="2.5 2.5 3" />-->

			<mesh file="meshes/object/Sphere_hull_1.stl" name="1" scale="1.5 1.5 3" />
			
			<mesh file="meshes/object/Cube_hull_1.stl" name="2" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_2.stl" name="3" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_3.stl" name="4" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_4.stl" name="5" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_5.stl" name="6" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_6.stl" name="7" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_7.stl" name="8" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_hull_8.stl" name="9" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_001_hull_1.stl" name="10" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_002_hull_1.stl" name="11" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_003_hull_1.stl" name="12" scale="1.5 1.5 3" />
			<mesh file="meshes/object/Cube_004_hull_1.stl" name="13" scale="1.5 1.5 3" />

	
	<texture file="../textures/ceramic.png" name="tex-ceramic"/>
    <material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true"/>
  </asset>
  
  
  <worldbody>

    <body>
		<body name="object">
		<!-- <geom pos="0 0 -0.05" mesh="1" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  /> -->
		<geom pos="0 0 -0.05" mesh="2" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="3" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="4" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="5" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="6" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="7" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="8" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="9" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="10" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="11" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="12" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 -0.05" mesh="13" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />

		
<!--		<site name="middle_cube" pos="0.007 0.007 -0.05" size="0.0002 0.0002 0.0002" />-->
		<site name="middle_cylinder" pos="0.000 0.000 -0.0" size="0.0002 0.0002 0.0002" />
		<!--<site name="middle_triangle" pos="0.148 0.07 -0.03" size="0.002 0.002 0.002" />
		
		
		<site name="hole_up_1" pos="0 0 0.058" size="0.002 0.002 0.002" />
		<site name="hole_up_2" pos="0 0.15 0.058" size="0.002 0.002 0.002" />
		<site name="hole_up_3" pos="0.3 0 0.058" size="0.002 0.002 0.002" />
		<site name="hole_up_4" pos="0.3 0.15 0.058" size="0.002 0.002 0.002" />
		
		<site name="hole_down_1" pos="0 0 -0.03" size="0.002 0.002 0.002" />
		<site name="hole_down_2" pos="0 0.15 -0.03" size="0.002 0.002 0.002" />
		<site name="hole_down_3" pos="0.3 0 -0.03" size="0.002 0.002 0.002" />
		<site name="hole_down_4" pos="0.3 0.15 -0.03" size="0.002 0.002 0.002" />
		
		<body name="asdas" pos="0.077 0.077 -0.03">
			<geom density="3000" friction="1.0 0.005 0.0001" group="1" name="cube2"  rgba="1 0 0 1" size="0.002 0.002 0.002" type="box" />
	
		</body>-->
		
		 
		<body name="hole" pos="0.00 0.000 -0.06">
			<geom density="3000" friction="1.0 0.005 0.0001" group="1" name="hole"  rgba="1 0 0 1" size="0.001 0.001 0.001" type="box" />
<!--			<joint axis="1 0 0" name="cubex" type="slide" /><joint axis="0 1 0" name="cubey" type="slide" /><joint axis="0 0 1" name="cubez" type="slide" />-->
		</body>


		
		
		</body>

      <body name="visual">

        <!--  <geom pos="0 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.3 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 -0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>-->
      </body>

      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.02" name="bottom_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.02" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.25 0.25 0.1" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
