<?xml version="1.0" encoding="utf-8"?>
<mujoco model="ur5e_pick v200">

  <!-- =================================================
    Copyright 2020 Zhipeng Dong
    Model   :: UR5e 2F-85 push puck (MuJoCoV2.0)
    Author  :: Zhipeng Dong (zhipengdongneu@gmail.com)
    License :: Under Apache License, Version 2.0 (the "License")
  ====================================================== -->

  <include file="include/basic_scene.xml" />
  <include file="include/assets.xml"/>
  <compiler meshdir="../ur5e_sim/meshes/" texturedir="../ur5e_sim/textures/" />

  <worldbody>
    <include file="include/ur5e_2f85.xml" />

    <body name="puck" pos="-0.03 -0.02 0.84">
      <joint name="puck_joint" type="free" limited='false' damping="1" armature="0" />
      <inertial pos="0 0 0" mass=".1" diaginertia=".1 .1 .1"/>
      <geom name="puck_box"
            type="cylinder"
            pos="0 0 0"
            size="0.04 0.02"
            rgba=".1 .1 .9 1"
            contype="1"
            conaffinity="1"
            friction=".1 .005 .0001"
      />
      <!-- puck goal marked with green -->
      <site name="puck-goal-site" pos="0 0 0" size="0.01"
            rgba="0 1 0 1"/>
    </body>

  </worldbody>

  <include file='include/actuator.xml'/>

</mujoco>
