<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <compiler angle="degree" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
    <option timestep="0.002" iterations="20" apirate="200">
        <flag warmstart="enable"></flag>
    </option>

    <!-- from shared.xml -->
    <size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size>
    <visual>
        <map fogstart="3" fogend="5" force="0.1"></map>
        <quality shadowsize="4096"></quality>
    </visual>
    <default>
        <joint armature="1" damping="1" limited="true" />
    </default>

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

        <texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
        <texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

        <material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
    </asset>

    <worldbody>
        <geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
        <body name="floor0" pos="1 1 0"></body>

        <body name="torso" pos="1 1.15 0.1">
            <geom name="torso_geom" pos="0 0 0" size="0.05" type="sphere"/>
            <body pos="0 -0.05 0" name="body_0">
                <geom fromto="0.0 0 0.0 0.0 -0.15 0.0" name="geom_0" size="0.016" type="capsule"/>
                <joint axis="0 0 1" name="joint_0_1" pos="0 0 0" range="-40 40" type="hinge"/>
            </body>
            <body pos="0 -0.05 0" name="body_1">
                <geom fromto="0.0 0 0.0 -0.0388 -0.145 0.0" name="geom_1" size="0.016" type="capsule"/>
                <joint axis="0 0 1" name="joint_1_1" pos="0 0 0" range="-40 40" type="hinge"/>
            </body>
            <body pos="0 -0.05 0" name="body_2">
                <geom fromto="0.0 0 0.0 0.0388 -0.145 0.0" name="geom_2" size="0.016" type="capsule"/>
                <joint axis="0 0 1" name="joint_2_1" pos="0 0 0" range="-40 40" type="hinge"/>
            </body>
        </body>

        <body name="object" pos="1 1 0.2">
            <geom name="object" type="box" size="0.025 0.025 0.025" material="material:object" condim="4" density="567"></geom>
            <geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
            <site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
            <joint name="object:joint" type="free" damping="0.01" armature="0" limited="false"></joint>
        </body>
        <body name="target" pos="1 1 0.2">
            <geom name="target" type="box" size="0.025 0.025 0.025" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
            <site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
            <joint name="target:joint" type="free" damping="0.01" armature="0" limited="false"></joint>
        </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 1 4" dir="0 0 -1" name="light0"></light>
    </worldbody>
</mujoco>
