<mujoco model="pushing2d">

    <compiler inertiafromgeom="auto" angle="radian" coordinate="local" />
    <size njmax="2000" nconmax="500"/>
    <option timestep="0.01" gravity="0 0 -9.81" iterations="20" integrator="Euler" />
    <default>
        <joint limited="false" damping="1" />
        <geom contype="1" conaffinity="1" condim="4" friction=".5 .1 .1" density="1000" margin="0.002" />
    </default>

    <worldbody>
        <camera name="maincam" mode= "fixed" fovy="32" euler="0.7 0 0" pos="0 -1.1 1.3"/>
        <body name="gripper" pos="0 0 0.25">
            <inertial pos="0 0 0" mass="30" diaginertia="166.667 166.667 166.667"/>
            <geom type="box" size=".1 .03 .03" rgba="0.1 0.0 0.9 1" />
            <geom type="box" size=".07 .07 1" rgba="0.9 0.9 0.9 1" pos="0 0 1"/>
            <joint name="ball_x" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-0.35 0.35"/>
            <joint name="ball_y" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.35 0.35"/>
            <joint name="ball_z" type="slide" pos="0 0 0" axis="0 0 1"  limited="true" range="-0.08 0.25"/>

            <body name="finger1" pos="-0.07 0 -0.1">
                <!--<joint name="j_finger1" type="slide" pos="0 0 0" axis="1 0 0"  limited="true" range="0. 0.1"/>-->
                <geom type="box" size=".01 .01 .1" rgba="0.3 0.3 0.3 1" />
            </body>

            <body name="finger2" pos="0.07 0 -0.1">
                <!--<joint name="j_finger2" type="slide" pos="0 0 0" axis="1 0 0" />-->
                <geom type="box" size=".01 .01 .1" rgba="0.3 0.3 0.3 1" />
            </body>

        </body>


        <body name="container" pos="0  0  -0.05">

            <body name="border_front" pos="0 -.5  0">
                 <geom type="box" size=".5 .01 .1" rgba="0 .1 .9 .3"/>
            </body>

            <body name="border_rear" pos="0 .5  0">
                 <geom type="box" size=".5 .01 .1" rgba="0 .1 .9 .3"/>
            </body>

            <body name="border_right" pos=".5 0  0">
                 <geom type="box" size=".01  .5 .1" rgba="0 .1 .9 .3"/>
            </body>

            <body name="border_left" pos="-.5 0  0">
                 <geom type="box" size=".01  .5 .1" rgba="0 .1 .9 .3"/>
            </body>

            <body name="table" pos="0 0 -.01">
                 <geom type="box" size=".5  .5 .01" rgba="0 .9 0 1"/>
            </body>
        </body>



        <body name="light_body0" pos="0 0  1">
             <light name="light0" mode="fixed" directional="false" active="true" castshadow="true"/>
        </body>


    </worldbody>

    <!--begin_auto_replace -->
        <include file="objects.xml"/>
    <!--end_auto_replace -->

    <actuator>
        <motor joint="ball_x" ctrlrange="-100.0 100.0" ctrllimited="true"/>
        <motor joint="ball_y" ctrlrange="-100.0 100.0" ctrllimited="true"/>
        <motor joint="ball_z" ctrlrange="-100.0 100.0" ctrllimited="true"/>
        <!--<motor joint="j_finger1" ctrlrange="-100.0 100.0" ctrllimited="true"/>-->
    </actuator>

    <!--<equality>-->
        <!--<joint joint1="j_finger1" joint2="j_finger2" polycoef="0 -1 0 0 0" />-->
    <!--</equality>-->

</mujoco>
