<!--<mujoco model="hole">-->
<!--  <asset>-->
<!--    <texture file="../textures/red-wood.png" type="cube" name="red-wood" />-->
<!--    <material name="plate_mat" texture="red-wood" texrepeat="3 3" specular="0.4" shininess="0.1" />-->
<!--  </asset>-->
<!--  <worldbody>-->
<!--    <body>-->
<!--      <body name="object">-->
<!--        <geom pos="0 0 0" size="0.06 0.17 0.01" type="box" group="0" material="plate_mat" />-->
<!--        <geom pos="0.22 0 0" size="0.06 0.17 0.01" type="box" group="0" material="plate_mat" />-->
<!--        <geom pos="0.11 0.11 0" size="0.05 0.06 0.01" type="box" group="0" material="plate_mat" />-->
<!--        <geom pos="0.11 -0.11 0" size="0.05 0.06 0.01" type="box" group="0" material="plate_mat" />-->
<!--      </body>-->
<!--      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.02" name="bottom_site"/>-->
<!--      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.02" name="top_site"/>-->
<!--      <site rgba="0 0 0 0" size="0.005" pos="0.25 0.25 0.1" name="horizontal_radius_site"/>-->
<!--    </body>-->
<!--  </worldbody>-->
<!--</mujoco>-->

<mujoco model="hole">

        <!--  <geom pos="0 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.3 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 -0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>-->

<!-- <asset>-->
<!--    <mesh file="meshes/object/AllFinal_hull_1.stl" name="1"  scale="1 1 0.1"/>-->
<!--	 <mesh file="meshes/object/AllFinal_hull_2.stl" name="2" scale="1 1 0.1" />-->
<!--	  <mesh file="meshes/object/AllFinal_hull_3.stl" name="3" scale="1 1 0.1" />-->
<!--	    <mesh file="meshes/object/AllFinal_hull_4.stl" name="4" scale="1 1 0.1" />-->
<!--	  <mesh file="meshes/object/AllFinal_hull_5.stl" name="5" scale="1 1 0.1 "/>-->
<!--	    <mesh file="meshes/object/AllFinal_hull_6.stl" name="6" scale="1 1 0.1" />-->
<!--	 <mesh file="meshes/object/AllFinal_hull_7.stl" name="7"  scale="1 1 0.1"/>-->
<!--	  <mesh file="meshes/object/AllFinal_hull_8.stl" name="8"  scale="1 1 0.1"/>-->
<!--	    <mesh file="meshes/object/AllFinal_hull_9.stl" name="9" scale="1 1 0.1" />-->
<!--	 <mesh file="meshes/object/AllFinal_hull_10.stl" name="10"  scale="1 1 0.1"/>-->
<!--	  <mesh file="meshes/object/AllFinal_hull_11.stl" name="11"  scale="1 1 0.1"/>-->
<!--	    <mesh file="meshes/object/AllFinal_hull_12.stl" name="12"  scale="1 1 0.1" />-->
 <asset>
    <mesh file="meshes/object/AllFinal_hull_1.stl" name="1"  scale="1 1 1.5"/>
	 <mesh file="meshes/object/AllFinal_hull_2.stl" name="2" scale="1 1 1.5" />
	  <mesh file="meshes/object/AllFinal_hull_3.stl" name="3" scale="1 1 1.5" />
	    <mesh file="meshes/object/AllFinal_hull_4.stl" name="4" scale="1 1 1.5" />
	  <mesh file="meshes/object/AllFinal_hull_5.stl" name="5" scale="1 1 1.5 "/>
	    <mesh file="meshes/object/AllFinal_hull_6.stl" name="6" scale="1 1 1.5" />
	 <mesh file="meshes/object/AllFinal_hull_7.stl" name="7"  scale="1 1 1.5"/>
	  <mesh file="meshes/object/AllFinal_hull_8.stl" name="8"  scale="1 1 1.5"/>
	    <mesh file="meshes/object/AllFinal_hull_9.stl" name="9" scale="1 1 1.5" />
	 <mesh file="meshes/object/AllFinal_hull_10.stl" name="10"  scale="1 1 1.5"/>
	  <mesh file="meshes/object/AllFinal_hull_11.stl" name="11"  scale="1 1 1.5"/>
	    <mesh file="meshes/object/AllFinal_hull_12.stl" name="12"  scale="1 1 1.5" />


	<texture file="../textures/ceramic.png" name="tex-ceramic"/>
    <material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true"/>
  </asset>


  <worldbody>

    <body>
		<body name="object">

        <geom pos="0 0 0" mesh="1" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="2" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		 <geom pos="0 0 0" mesh="3" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="4" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="5" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="6" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="7" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="8" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="9" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="10" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		 <geom pos="0 0 0" mesh="11" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />
		<geom pos="0 0 0" mesh="12" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="6700" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4" rgba="0 1 0 1"  />


<!--		<site name="middle_cube" pos="0.07 0.07 -0.03" size="0.002 0.002 0.002" />-->
<!--		<site name="middle_cylinder" pos="0.2 0.062 0.15" size="0.002 0.002 0.002" />-->
<!--		<site name="middle_triangle" pos="0.148 0.07 -0.03" size="0.002 0.002 0.002" />-->


<!--		<site name="hole_up_1" pos="0 0 0.058" size="0.002 0.002 0.002" />-->
<!--		<site name="hole_up_2" pos="0 0.15 0.058" size="0.002 0.002 0.002" />-->
<!--		<site name="hole_up_3" pos="0.3 0 0.058" size="0.002 0.002 0.002" />-->
<!--		<site name="hole_up_4" pos="0.3 0.15 0.058" size="0.002 0.002 0.002" />-->
<!--		-->
<!--		<site name="hole_down_1" pos="0 0 -0.03" size="0.002 0.002 0.002" />-->
<!--		<site name="hole_down_2" pos="0 0.15 -0.03" size="0.002 0.002 0.002" />-->
<!--		<site name="hole_down_3" pos="0.3 0 -0.03" size="0.002 0.002 0.002" />-->
<!--		<site name="hole_down_4" pos="0.3 0.15 -0.03" size="0.002 0.002 0.002" />-->

		<body name="asdas" pos="0.077 0.077 -0.03">
			<geom density="3000" friction="1.0 0.005 0.0001" group="1" name="cube2"  rgba="1 0 0 1" size="0.002 0.002 0.002" type="box" />

		</body>

		<body name="hole" pos="0.2 0.062 0">
			<geom density="3000" friction="1.0 0.005 0.0001" group="1" name="hole"  rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" />
			<site name="middle_cylinder" />
		</body>

<!--		<body name="hole" pos="0.24 0.07 -0.03">-->
<!--			<geom density="3000" friction="1.0 0.005 0.0001" group="1" name="hole"  rgba="1 0 0 1" size="0.002 0.002 0.002" type="box" />-->
<!--	-->
<!--		</body>-->




		</body>

      <body name="visual">

        <!--  <geom pos="0 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.3 0 0" size="0.1 0.25 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>
        <geom pos="0.15 -0.15 0" size="0.05 0.1 0.02" type="box" rgba="1 0 0 1"/>-->
      </body>



      <site rgba="0 0 0 0" size="0.2" pos="0 0 -0.02" name="bottom_site"/>
      <site rgba="1 0 0 1" size="1" pos="0 0 0.1" name="top_site"/>
      <site rgba="0 0 0 0" size="0.005" pos="0.25 0.25 0.1" name="horizontal_radius_site"/>
    </body>
  </worldbody>
</mujoco>
