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

  <include file="shared.xml"/>
  <size njmax="800" nconmax="300"/>

  <worldbody>
    <geom name="floor0" pos="0.8 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"/>
    <body name="floor0" pos="0.8 0.75 0">
      <site name="target0" pos="0 0 -0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
      <site name="target1" pos="0 0 -0.5" size="0.02 0.02 0.02" rgba="1 1 0 1" type="sphere"/>
    </body>

    <include file="robot.xml"/>

    <body pos="1.35 0.75 0.2" name="table0">
      <geom size="0.35 0.55 0.2" type="box" mass="2000" material="table_mat"/>
    </body>

    <body name="object0" pos="0.025 0.025 0.025">
      <joint name="object0:joint" type="free" damping="0.01"/>
      <geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"/>
      <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
    </body>
    
    <body name="object1" pos="0.025 0.025 0.025">
      <joint name="object1:joint" type="free" damping="0.01"/>
      <geom size="0.025 0.025 0.025" type="box" condim="3" name="object1" material="block_mat" mass="2"/>
      <site name="object1" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
    </body>

    <body name="box0" pos="0 0 0">
      <joint name="box0:joint" type="free" damping="0.01"/>
      <include file="objects/bin_tall.xml"/>
      <site name="box0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
    </body>

    <body name="box11" pos="0 0 0">
      <joint name="box1:joint" type="free" damping="0.01"/>
      <include file="objects/bin_tall.xml"/>
      <site name="box1" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
    </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 0 4" dir="0 0 -1" name="light0"/>
  </worldbody>

  <actuator>
    <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000"
              name="robot0:l_gripper_finger_joint" user="1"/>
    <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000"
              name="robot0:r_gripper_finger_joint" user="1"/>
  </actuator>
</mujoco>
