<mujoco model="bins_arena">
  <asset>
    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
    <texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512"/>
    <texture file="../textures/light-wood.png" type="2d" name="tex-light-wood"/>
    <texture file="../textures/dark-wood.png" type="2d" name="tex-dark-wood"/>
    <material name="light-wood" reflectance="0.5" texrepeat="15 15" texture="tex-light-wood" texuniform="true"/>
    <material name="dark-wood" reflectance="0.5" texrepeat="5 5" texture="tex-dark-wood" texuniform="true"/>
    <material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
  </asset>
  <worldbody>
    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
    <geom rgba="0 0 0 0" pos="0.1 0.5 0.7" size="0.5 1 .2" type="plane"/>
    <body name="bin1" pos="0.1 0.15 0.8">
      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" friction="1 0.005 0.0001"/>
      <geom pos="0 0 0" material="light-wood" size="0.2 0.25 0.02" type="box" conaffinity="0" contype="0" group="1"/>
        <!-- <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/>
        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="0 0 1 1"/>
        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="light-wood"/> -->
    </body>
    <body name="bin2" pos="0.1 0.68 0.8">
      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" friction="1 0.005 0.0001"/>
      <geom pos="0 0 0" size="0.2 0.25 0.02" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
        <geom pos="0 0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
        <geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
        <geom pos="0 0 0.05" size="0.2 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
        <geom pos="0 -0.25 0.05" size="0.21 0.01 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
        <geom pos="0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
        <geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
        <geom pos="0 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" friction="1 0.005 0.0001" rgba="1 0 0 1"/>
        <geom pos="-0.2 0 0.05" size="0.01 0.25 0.05" type="box" conaffinity="0" contype="0" group="1" material="dark-wood"/>
    </body>

    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <!-- front view -->
    <camera mode="fixed" name="frontview" pos="1.6 0.4 1.45" quat="0.56 0.43 0.43 0.56"/>
    <!-- bird view -->
    <camera mode="fixed" name="birdview" pos="-0.2 0.4 3.0" quat="0.7071 0 0 0.7071"/>
    <!-- agent view -->
    <camera mode="fixed" name="agentview" pos="1.0 0.4 1.75" quat="0.653 0.271 0.271 0.653"/>
  </worldbody>
</mujoco>