<mujoco>
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/block_dependencies.xml"/>
    <asset>
      <mesh file="../objects/meshes/table/table_hole.stl" name="table_hole"/>
    </asset>

    <!-- 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="obj" pos="0 0.6 0.02">
        <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
        <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
        <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
              size="0.02 0.02" rgba="1 0 0 1" solref="0.01 1"
              contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="block_red"
        />
      </body>
      <body pos="0 .6 0">
        <geom material="table_wood" pos="0.0 -0.175 0.027" size="0.7 0.225 0.027" type="box" conaffinity="0" contype="0" group="1"/>
        <geom material="table_wood" pos="0.0 0.375 0.027" size="0.15 0.025 0.027" type="box" conaffinity="0" contype="0" group="1"/>
        <geom material="table_wood" pos="-0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="0" contype="0" group="1"/>
        <geom material="table_wood" pos="0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="0" contype="0" group="1"/>

        <geom material="table_col" pos="0.0 -0.175 0.027" size="0.7 0.225 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
        <geom material="table_col" pos="0.0 0.375 0.027" size="0.15 0.025 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
        <geom material="table_col" pos="-0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
        <geom material="table_col" pos="0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
      </body>
      <site name="goal" pos="0. 0.84 0.02" size="0.015"
            rgba="0 0 0.8 1"/>
    </worldbody>

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