<mujoco model="wire_insertion">
    <custom>
<!--        <numeric data="0.0   0.21 0.01497 0.5 -0.5 -0.5 0.5" name="0_part0_initpos" />-->
<!--        <numeric data="-0.37 0.31 0.01497 0.499854 0.499854 -0.500146 -0.500146" name="1_part1_initpos" />-->
<!--        <numeric data="-0.37 0.21 0.01497 0.500129 0.500129 0.499871 0.499871" name="2_part2_initpos" />-->
<!--        <numeric data="0.0   0.31 0.01497 0.5 -0.5 0.5 -0.5" name="3_part3_initpos" />-->
        <numeric data="0.1 0.27 0.051527 1 0 0 0" name="wire1_initpos" />
<!--        <numeric data="0.6 0.27 0.051527 0 0 0 1" name="wire2_initpos" />-->
<!--        <numeric data="0.0 0.2 0.07 0.7073883 0 0.7068252 0" name="insertion_hole_1_initpos" />-->
        <!-- horizontal-->
        <numeric data="-0.1 0.2 0.029527 1 0 0 0" name="table1_initpos" />
        <!-- vertical-->
<!--        <numeric data="-0.1 0.0 0.052527 0.7073883 -0.7068252 0 0" name="table1_initpos" />&ndash;&gt;-->
    </custom>
    <asset>
        <material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"/>
        <!-- ceramic table texture and material-->
        <texture file="../textures/ceramic.png" type="cube" name="tex-ceramic"/>
        <material name="table_ceramic" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-ceramic" />
        <texture file="../textures/steel-scratched.png" type="cube" name="steel-metal"/>
        <material name="smetal" reflectance="1.0" shininess="1.0" specular="1.0" texrepeat="1 1" texture="steel-metal" texuniform="true"/>
        <texture file="../textures/brass-ambra.png" type="cube" name="brass-metal"/>
        <material name="bmetal"  reflectance="1.0" shininess="1.0" specular="1.0" texrepeat="1 1" texture="brass-metal" texuniform="true"/>
        <mesh file="table_lack_0825/table.stl" name="part4" scale="0.015 0.015 0.02" />
        <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
        <material name="pencil-wood" reflectance="0.5" texrepeat="20 20" texture="tex-light-wood" texuniform="true" />
        <texture file="../textures/red-wood.png" name="tex-red-wood" type="2d" />
        <material name="red-wood" reflectance="0.5" texrepeat="20 20" texture="tex-red-wood" texuniform="true" />
    </asset>

    <equality>
<!--        <weld active="false" body1="wire1" body2="insertion_hole_1" solimp="1 1 0.5" solref="0.01 0.3" />-->
        <weld active="false" body1="wire1" body2="table1" solimp="1 1 0.5" solref="0.01 0.3" />
    </equality>

    <compiler meshdir=""/>
    <size njmax="8000" nconmax="4000"/>

    <worldbody>
        <!--Wire-->
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<!--        <body name="wire1" pos="0.1 -0.04005574 -0.06998405" quat="0.7073883 0 0 -0.7068252">-->
        <body name="wire1" pos="-0.2 0.2 0.351527" quat="1 0 0 0">-->
<!--            <freejoint/>-->
<!--            <include file="./rope_expanded_short.xml"/>-->
<!--            <body xmlns:xi="http://www.w3.org/2001/XInclude">-->
<!--            <xi:include href="source.xml" parse="xml" />-->
<!--            </body>-->
            <inertial pos="0.055 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
            <geom name="wire1_I1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.005 0.01" quat="0.707107 0 0.707107 0" rgba="0.1 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
            <geom name="noviz_collision_wire1_I1"  size="0.005 0.01" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
            <geom name="wire1_G0_geom" condim="3" conaffinity="0" contype="0" pos="0.065 0 0" size="0.01 0.05" quat="0.707107 0 0.707107 0" rgba="0.1 0.1 0.1 1" group="1" solref="0.001 1" type="capsule" />-->
            <geom name="noviz_collision_wire1_G0" pos="0.065 0 0" size="0.01 0.05" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
<!--            <geom name="G0" pos="0.045 0 0" size="0.005 0.03" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" group="0" />-->
            <!--site for gripper-->
            <site group="1" name="wire1_ltgt_site0" pos="0.075 0.01 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.005 0.005 0.005" type="sphere" />
            <site group="1" name="wire1_rtgt_site0" pos="0.075 -0.01 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.005 0.005 0.005" type="sphere" />
            <!--site for hole-->
            <site group="0" name="wire-hole,conn_site1" pos="-0.0125 0.0 0.0" quat="0.707107 0 0.707107 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.005" />
            <!-- <site name="wire1_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="1 1 0 1" size="0.0035" />-->
            <!--site for connection-->
            <site group="1" name="wire1_end" pos="0.125 0 0" quat="0.707107 0 -0.707107 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.005 0.005 0.005" type="sphere" />
            <site name="wire1_horizontal_radius_site" pos="0.065 0 0" rgba="0 0 0 0" size="0.0055" />
            <body name="composite_B1" pos="0.14 0 0">
<!--                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />-->
<!--                        <joint name="J0_1" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.005" />-->
<!--                        <joint name="J1_1" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.005" />-->
<!--                        <geom name="G1" size="0.005 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" group="0"/>-->
<!--                        <site name="B1_horizontal_radius_site" pos="0 0 0" rgba="1 1 0 1" size="0.0055" />-->
                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                <joint name="J0_1" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                <joint name="J0_1" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003"/>-->
<!--                <joint name="J1_1" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003"/>-->
<!--                <joint name="J2_1" pos="-0.0175 0 0" axis="1 0 0" group="3" damping="0.003"/>-->
                <site group="1" name="B1_ltgt_site0" pos="0.0075 0.01 0" rgba="0 0 0 0" size="0.005 0.005 0.005" type="sphere" />
                <site group="1" name="B1_rtgt_site0" pos="0.0075 -0.01 0" rgba="0 0 0 0" size="0.005 0.005 0.005" type="sphere" />
                <geom name="B1_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                <geom name="noviz_collision_B1_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
<!--                <geom name="G1" size="0.01 0.015" quat="0.707107 0 0.707107 0" typ e="capsule" rgba="0.1 0.1 0.1 1" group="0"/>-->
                <site name="B1_horizontal_radius_site" pos="0 0 0" rgba="1 1 0 1" size="0.0055" />
                <body name="composite_B2" pos="0.035 0 0">
                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                    <joint name="J0_2" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                    <joint name="J0_2" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                    <joint name="J1_2" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                    <geom name="B2_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                    <geom name="noviz_collision_B2_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                    <body name="composite_B3" pos="0.035 0 0">
                        <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                        <joint name="J0_3" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                        <joint name="J0_3" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                        <joint name="J1_3" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                        <geom name="B3_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                        <geom name="noviz_collision_B3_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                        <body name="composite_B4" pos="0.035 0 0">
                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                            <joint name="J0_4" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                            <joint name="J0_4" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                            <joint name="J1_4" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                            <geom name="B4_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                            <geom name="noviz_collision_B4_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                            <body name="composite_B5" pos="0.035 0 0">
                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                <joint name="J0_5" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                <joint name="J0_5" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                                <joint name="J1_5" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                                <geom name="B5_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                                <geom name="noviz_collision_B5_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                                <body name="composite_B6" pos="0.035 0 0">
                                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                    <joint name="J0_6" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                    <joint name="J0_6" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                                    <joint name="J1_6" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                                    <geom name="B6_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                                    <geom name="noviz_collision_B6_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                                    <body name="composite_B7" pos="0.035 0 0">
                                        <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                        <joint name="J0_7" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                        <joint name="J0_7" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                                        <joint name="J1_7" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                                        <geom name="B7_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                                        <geom name="noviz_collision_B7_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                                        <body name="composite_B8" pos="0.035 0 0">
                                            <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                            <joint name="J0_8" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                            <joint name="J0_8" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                                            <joint name="J1_8" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                                            <geom name="B8_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                                            <geom name="noviz_collision_B8_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                                            <body name="composite_B9" pos="0.035 0 0">
                                                <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                                <joint name="J0_9" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                                <joint name="J0_9" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                                                <joint name="J1_9" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
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                                                <geom name="noviz_collision_B9_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
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                                                    <inertial pos="0 0 0" quat="0.707107 0 0.707107 0" mass="0.00001" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                                    <joint name="J0_10" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                                    <joint name="J0_10" pos="-0.0175 0 0" axis="0 1 0" group="3" damping="0.003" />-->
<!--                                                    <joint name="J1_10" pos="-0.0175 0 0" axis="0 0 1" group="3" damping="0.003" />-->
                                                    <geom name="B10_G1_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" rgba="0.7 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                                                    <geom name="noviz_collision_B10_G1" pos="0 0 0" size="0.01 0.015" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                                                    <body name="composite_wire2" pos="0.015 0 0">
                                                        <inertial pos="0.055 0 0" quat="0.707107 0 0.707107 0" mass="0.000274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />
                                                        <joint name="J0_11" pos="-0.0175 0 0" group="3" damping="0.003" type="ball"/>
<!--                                                        <joint name="J0_11" pos="0 0 0" axis="0 1 0" group="3" damping="0.005" />-->
<!--                                                        <joint name="J1_11" pos="0 0 0" axis="0 0 1" group="3" damping="0.005" />-->
                                                        <geom name="wire2_G0_geom" conaffinity="0" contype="0" pos="0.055 0 0" size="0.01 0.05" quat="0.707107 0 0.707107 0" rgba="0.1 0.1 0.1 1" group="1" solref="0.001 1" type="capsule" />-->
                                                        <geom name="noviz_collision_wire2_G0" pos="0.055 0 0" size="0.01 0.05" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
                                                        <geom name="wire2_I2_geom" conaffinity="0" contype="0" pos="0.115 0 0" size="0.005 0.01" quat="0.707107 0 0.707107 0" rgba="0.1 0.7 0.7 1" group="1" solref="0.001 1" type="capsule" />-->
                                                        <geom name="noviz_collision_wire2_I2" pos="0.115 0 0" size="0.005 0.01" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>
<!--                                                        <geom name="wire2_G0" pos="0.045 0 0" size="0.005 0.03" quat="0.707107 0 0.707107 0" type="capsule" rgba="0.1 0.1 0.1 1" group="0" />-->
                                                        <!--site for gripper-->
                                                        <site group="1" name="wire2_ltgt_site0" pos="0.055 0.01 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.005 0.005 0.005" type="sphere" />
                                                        <site group="1" name="wire2_rtgt_site0" pos="0.055 -0.01 0" rgba="0.9019 0.0980 0.2941 0.3" size="0.005 0.005 0.005" type="sphere" />
                                                        <!--site for hole-->
<!--                                                        <site group="0" name="wire2-hole,0,90,180,270,conn_site2" pos="0.125 0.0 0.0" quat="0.707107 0 0.707107 0" rgba="0 0 0 0" size="0.005" />-->
                                                        <!--site for connection-->
                                                        <site group="1" name="wire2_end" pos="-0.005 0.0 0.0" quat="0 0 1 0" rgba="0 0 0 0" size="0.005 0.005 0.005" type="sphere" />
                                                        <site name="wire2_horizontal_radius_site" pos="0.055 0 0" rgba="0 0 0 0" size="0.0055" />
<!--                                                                    <joint type="free"/>-->
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                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>

<!--        <body name="wire2" pos="0.2 0.2 0.051527" quat="0 0 0 1">-->
<!--            <inertial pos="0.055 0 0" quat="0.707107 0 0.707107 0" mass="0.000274889" diaginertia="2.97797e-07 2.97797e-07 3.43612e-08" />-->
<!--            <geom name="wire2_I2_geom" conaffinity="0" contype="0" pos="0 0 0" size="0.005 0.01" quat="0.707107 0 0.707107 0" rgba="0.1 0.7 0.7 1" solref="0.001 1" type="capsule" />&ndash;&gt;-->
<!--            <geom name="noviz_collision_wire2_I2"  size="0.005 0.01" quat="0.707107 0 0.707107 0" type="capsule" rgba="0 0 0 0" group="0" solref="0.001 1"/>-->
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<!--            &lt;!&ndash;site for gripper&ndash;&gt;-->
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<!--            &lt;!&ndash;site for hole&ndash;&gt;-->
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        <!--Hole-->
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    </worldbody>
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