<mujoco>
    <compiler angle="radian" coordinate="local" meshdir="../stls" texturedir="../textures" />
    <option timestep="0.002">
        <flag warmstart="enable" />
    </option>

    <include file="shared.xml" />

    <asset>
        <include file="shared_asset.xml" />
    </asset>

    <worldbody>
        <geom name="floor0" pos="0.8 0.75 0" size="0.85 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" />
        </body>

        <include file="robot.xml" />

        <body pos="1.3 0.5725 0.15" name="table0">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.25 0.1725 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3" />
        </body>

        <body pos="1.3 0.9275 0.15" name="table1">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.25 0.1725 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3" />
        </body>

        <body pos="1.2525 0.75 0.15" name="table2">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.2025 0.005 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3" />
        </body>

        <body pos="1.5075 0.75 0.15" name="table3">
            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" size="0.0425 0.005 0.2" type="box" mass="2000" material="table_mat" conaffinity="3" contype="3" />
        </body>
        
        <body name="object0" pos="1.46177789 0.74909766 0.45">
            <joint name="object0:joint" type="free" />


            <geom solimp="0.9999999999 0.9999999999 0.001 0.5 2" pos="0 0 -0.01" size="0.004 0.10" type="cylinder" condim="3" name="object0" material="block_mat" mass="0.5" />

            <site name="object0" pos="0 0 0" size="0.02 0.02 0.10" rgba="1 0 0 1" type="sphere" />
        <geom name="object00" pos="0 0 -0.06" size="0.013 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object01" pos="0 0 -0.048" size="0.0174 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object02" pos="0 0 -0.036" size="0.0218 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object03" pos="0 0 -0.023999999999999994" size="0.0262 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object04" pos="0 0 -0.011999999999999997" size="0.030600000000000002 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object05" pos="0 0 0.0" size="0.035 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object06" pos="0 0 0.01200000000000001" size="0.039400000000000004 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object07" pos="0 0 0.024000000000000007" size="0.043800000000000006 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object08" pos="0 0 0.036000000000000004" size="0.04820000000000001 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /><geom name="object09" pos="0 0 0.048" size="0.05260000000000001 0.006" type="cylinder" condim="3" material="block_mat" mass="0" /></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>






    
    
    
    
</mujoco>