<mujoco model="sawyer_pick_place">
    <include file="./common/sawyer_pick.xml" />
    <default>
    </default>
    <asset>
        <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
        <texture file="../textures/dark-wood.png" name="tex-dark-wood" type="2d" />
        <material name="light-wood" reflectance="0.5" texrepeat="15 15" texture="tex-light-wood" texuniform="true" />
        <material name="dark-wood" reflectance="0.5" texrepeat="5 5" texture="tex-dark-wood" texuniform="true" />
        <mesh file="../objects/meshes/can.stl" name="can_mesh" />
        <texture file="../objects/../textures/can.png" name="tex-can" />
        <material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true" />
    </asset>
    <worldbody>
    <body name="bin1" pos="0.65 -0.0 0.8">
      <geom friction="1 0.005 0.0001" pos="0 0 0" size="0.15 0.15 0.02" type="box" />
      <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0 0 0" size="0.15 0.15 0.02" type="box" />
        <geom friction="1 0.005 0.0001" pos="0 0.15 0.05" rgba="0 0 1 1" size="0.16 0.01 0.05" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0 0.15 0.05" size="0.16 0.01 0.05" type="box" />
        <geom friction="1 0.005 0.0001" pos="0 -0.15 0.05" rgba="0 0 1 1" size="0.16 0.01 0.05" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0 -0.15 0.05" size="0.16 0.01 0.05" type="box" />
        <geom friction="1 0.005 0.0001" pos="0.15 0 0.05" rgba="0 0 1 1" size="0.01 0.15 0.05" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="0.15 0 0.05" size="0.01 0.15 0.05" type="box" />
        <geom friction="1 0.005 0.0001" pos="-0.15 0 0.05" rgba="0 0 1 1" size="0.01 0.15 0.05" type="box" />
        <geom conaffinity="0" contype="0" group="1" material="light-wood" pos="-0.15 0 0.05" size="0.01 0.15 0.05" type="box" />
    </body>
        <body name="table" pos="0.66 0.0 0.4">
          <geom friction="1 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.73 0.41" type="box" />
          <geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.41" type="box" />
          <site name="table_top" pos="0.0 0.0 0.41" rgba="0 0 0 0" size="0.001 0.001 0.001" />
      </body>

        <!-- <body name="cube" pos="0.65 &#45;0.45 0.85"> -->
        <!--     <geom contype="1" conaffinity="1" density="100" friction="2.0 0.005 0.0001" condim="4" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.02 0.02 0.02" type="box"/> -->
        <!--     <site name="cube" pos="0.0 0.0 0.0" rgba="1 0 0 1" size="0.001 0.001 0.001" type="sphere" /> -->
        <!--     <joint name="cube" type="free" /> -->
        <!-- </body> -->
        <body name="cube" pos="0.65 -0.0 0.86" quat="-0.8795838801266339 0 0 0.47574383634617406">
            <geom condim="4" density="100" friction="0.95 0.3 0.1" group="1" material="coke" mesh="can_mesh" name="cube" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" />
            <site name="cube" pos="0 0 0" rgba="1 0 0 0" size="0.002 0.002 0.002" type="sphere" /><joint damping="0.0005" name="cube" type="free" />
        </body>
        </worldbody>
</mujoco>
