<mujoco>
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/faucet_dependencies.xml"/>

    <!-- franka files -->
    <include file="../franka_reach/third_party/franka/assets/assets.xml"/>
    <include file="../franka_reach/third_party/franka/assets/actuator0.xml"/>

    <compiler inertiafromgeom='auto' inertiagrouprange='3 5' angle="radian"/>

    <worldbody>
      <camera pos="0 0.5 1.5" name="topview" />
      <camera name="corner" mode="fixed" pos="-1.1 -0.4 0.6" xyaxes="1 -1 0 0.2 0.2 1"/>
      <camera name="corner2" fovy="60" mode="fixed" pos="1.3 -0.2 1.1" euler="3.9 2.3 3.74"/>
      <camera name="corner3" fovy="45" mode="fixed" pos="0.9 0 1.5" euler="3.5 2.7 4.14"/>

      <body pos='0 0 0' euler='0 0 1.57'>
          <geom type='cylinder' size='0.18 .90' pos='-.04 0 -0.90' class='panda_viz'/>
          <include file="../franka_reach/third_party/franka/assets/chain0.xml"/>
      </body>

      <body name="mocap" mocap="true" pos="0 0 1.09" euler="-1.57 0 -.785">
        <site name="mocap" pos="0 0 0" rgba="0.0 0.5 0.5 0" size="0.05" type="sphere"></site>
      </body>
    </worldbody>
    <!-- franka files -->

    <worldbody>
        <body name="faucetBase" pos="0 0.8 0">
            <include file="../objects/assets/faucet.xml"/>

        </body>


        <site name="goal_open" pos="0.175 0.785 0.125" size="0.005"
              rgba="0 .8 0 1"/>
        <site name="goal_close" pos="-0.175 0.785 0.125" size="0.005"
              rgba="0 0 0.8 1"/>

<!--         <body name="box" pos="0 0.8 0.05">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_left" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_right" conaffinity="1" pos="0 0.16 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_front" conaffinity="1" pos="0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_behind" conaffinity="1" pos="-0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
        </body>
 -->    </worldbody>

    <equality>
        <weld body1="mocap" body2="hand" solref="0.008 1"></weld>
    </equality>
</mujoco>
