<mujoco model="aisono_mount">
    <asset>
        <mesh name="mesh_host_machine" file="meshes/aisono_mount/Host_Machine.stl" scale="0.001 0.001 0.001"/>
        <mesh name="mesh_bed_body" file="meshes/aisono_mount/Bed_Body.stl" scale="0.001 0.001 0.001"/>
        <mesh name="mesh_bed_mat" file="meshes/aisono_mount/Bed_Mat.stl" scale="0.001 0.001 0.001"/>
    </asset>

    <worldbody>
        <body name="host_machine" pos="0 0 0.125" quat="0.707105 0 0 0.707108">
            <!-- This sites was added for visualization. -->
            <site name="host_machine_origin" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 1" type="sphere" group="0"/>
            <site name="host_machine_x" pos="0 0 0" size="0.005 0.4" quat="0.707105 0.707108 0 0" rgba="1 0 0 1" type="cylinder" group="0"/>
            <site name="host_machine_y" pos="0 0 0" size="0.005 0.4" quat="0.707105 0 0.707108 0" rgba="0 1 0 1" type="cylinder" group="0"/>
            <site name="host_machine_z" pos="0 0 0" size="0.005 0.4" quat="0.707105 0 0 0.707108" rgba="0 0 1 1" type="cylinder" group="0"/>
            <!-- <joint name="joint_bed_slide" pos="0 0 0" type="slide" axis="0 1 0" limited="true" range="-0.8 0.8" damping="0.01" group="0"/> -->
            <geom name="geom_host_machine" type="mesh" mesh="mesh_host_machine" solimp="0.998 0.998 0.001" solref="0.001 1" contype="0" conaffinity="0" condim="4" group="1"/>
            <body name="bed_body" pos="0 0.1 0" quat="1 0 0 0">
            <!-- <joint name="joint_mat_fixed" pos="0 0 0" type="slide" axis="0 1 0" limited="true" range="-0.01 0.01" damping="0.01" group="0"/> -->
                <geom name="geom_bed_body" type="mesh" mesh="mesh_bed_body" solimp="0.998 0.998 0.001" solref="0.001 1" contype="0" conaffinity="0" condim="4" group="1"/>
                <body name="bed_mat" pos="0 0 0" quat="1 0 0 0">
                    <geom name="geom_bed_mat" type="mesh" mesh="mesh_bed_mat" solimp="0.998 0.998 0.001" solref="0.001 1" contype="0" conaffinity="0" condim="4" group="1"/>
                    <!-- attach manipulated objects -->
                </body>
            </body>
        </body>
    </worldbody>
</mujoco>
