<mujoco model="empty_floor">
    <compiler angle="radian"/>
  <option timestep="0.0005" gravity="0 0 -9.81">
      <!-- <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/> -->
      <flag contact="enable" energy="enable" gravity="enable"/>
  </option>
  <asset>
    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
  </asset>
  <asset>
        <mesh file="../objects/can/can.stl" name="can_mesh" scale="1.0 1.0 1.5"/>
        <texture file="../objects/can/can.png" name="tex-can"/>
        <material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true"/>
  </asset>

  <asset>
        <mesh file="../objects/can/can.stl" name="cer_mesh" scale="1.0 1.0 1.5"/>
        <texture file="../objects/can/ceramic.png" name="tex-cer"/>
        <material name="ceramic" reflectance="0.7" texrepeat="5 5" texture="tex-cer" texuniform="true"/>
  </asset>

  <asset>
        <mesh file="../objects/can/can.stl" name="gla_mesh" scale="1.0 1.0 1.5"/>
        <texture file="../objects/can/glass.png" name="tex-gla"/>
        <material name="glass" reflectance="0.7" texrepeat="5 5" texture="tex-gla" texuniform="true"/>
  </asset>


  <worldbody>
    <!-- Floor -->
    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <!-- front view -->
    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
    <!-- bird view -->
    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
    <!-- agent view -->
    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
    <!-- side view -->
    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
  
    <body name="table" pos="1 0.3 0.35">
        <geom name="table" type="box" size="0.7 1.0 0.05" rgba="0.9 0.9 0.9 1"/>
        <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
        <body name="leg1" pos="0.35 0.7 -0.2">
            <geom name="leg1_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
        </body>
        <body name="leg2" pos="-0.35 0.7 -0.2">
            <geom name="leg2_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
        </body>
        <body name="leg3" pos="0.35 -0.7 -0.2">
            <geom name="leg3_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
        </body>
        <body name="leg4" pos="-0.35 -0.7 -0.2">
            <geom name="leg4_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
            <!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
        </body>
        </body>
         <body pos="0.8 0.3 0.46" name="coke_can">
			<joint name="object0:joint" type="free" damping="0.01" />
			<!-- <geom name= 'coke_can' pos="0 0 0" size="0.02 0.02 0.02" type="box" 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"   group="1"/> -->
			<geom name= 'coke_can' pos="0 0 0" size="0.02 0.02 " type="box" 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" />

			<site name="coke_can" pos="0 0 0" quat='-0.707 0 0.707 0' size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />

			<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>

        <body pos="0.8 0.0 0.46" name="ceramic_can">
			<joint name="object1:joint" type="free" damping="0.01" />
			<geom name="ceramic_can" 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="ceramic" group="1" condim="4"/>
			<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="ceramic"   group="1"/>
			<site name="ceramic_can" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />

			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="ceramic_bottom_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="ceramic_top_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="ceramic_horizontal_radius_site"/>
		</body>

        <body pos="0.8 -0.2 0.46" name="glass_can">
			<joint name="object2:joint" type="free" damping="0.01" />
			<geom name="glass_can" 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="glass" group="1" condim="4"/>
			<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="glass"   group="1"/>
			<site name="glass_can" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
	
			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="glass_bottom_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="glass_top_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="glass_horizontal_radius_site"/>
		</body>
  
  </worldbody>
</mujoco>
