
<mujoco model="Husky_dual_ur5">

	<include file="shared.xml"></include>

	<worldbody>

		<geom name="floor0" pos="0. 0. -0.14493" size="3 3 .125" type="plane" condim="3" material="floorplane"></geom>
		<body name="floor0" pos="0. 0. 0.0">
			<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"></site>
		</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"></light>

		<!-- camera: front view -->
		<camera mode="fixed" name="frontview" pos="3.0 0 1.85" quat="0.56 0.43 0.43 0.56"/>

		<!-- Robot -->
		<include file="robot_husky_mobile.xml"></include>

		<!-- Object -->
		<body pos="1.2 -0.4 0.6" name="object0">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="1" condim="4"/>
			<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="coke"  conaffinity="0" contype="0" group="1" mass="0.0001"/>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
	
			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="can_bottom_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="can_top_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="can_horizontal_radius_site"/>
		</body>

		<!-- Table -->
		<body pos="1.2 -0.4 0.2" name="table0">
			<geom size="0.25 0.3 0.2" type="box" mass="2000" material="table_mat"></geom>
			<geom size="0.25 0.3 0.2" type="box" mass="2000" group="1" material="table_mat"></geom>
		</body>
		
	</worldbody>

	<include file="actuator.xml"></include>
	<include file="gripper.xml"></include>

</mujoco>
