<mujoco>
	<include file="MPL_full.xml"/>
	<include file="assets.xml"/>

    <worldbody>
		<geom type="plane" material="MatPlane" pos=".6 0 0.1" zaxis="-1 0 1" size=".1 .5 .025"/>
		<geom type="plane" material="MatPlane" pos="-.6 0 0.1" zaxis="1 0 1" size=".1 .5 .025"/>
		<geom type="plane" material="MatPlane" pos="0 .6 0.1" zaxis="0 -1 1" size=".5 .1 .025"/>
		<geom type="plane" material="MatPlane" pos="0 -.6 0.1" zaxis="0 1 1" size=".5 .1 .025"/>

        <body name="obj1" pos="0.2 -0.2 .1">
            <geom type="sphere" material="MatWood" size="0.04" condim="6" friction="1 .001 .001"/>
            <joint class="free"/>
        </body>

        <body name="obj2" pos="0 -0.2 .1">
            <geom type="box" material="MatWoodB" size="0.02 0.04 0.06"/>
            <joint class="free"/>
        </body>

        <body name="obj3" pos="-0.2 -0.2 .1">
            <geom type="ellipsoid" material="MatSquare" size="0.05 0.04 0.02" condim="6" friction="1 .001 .001"/>
            <joint class="free"/>
        </body>
    </worldbody>
</mujoco>
