<mujoco model="empty_floor">
  <compiler angle="radian"/>
  <option timestep="0.0005" gravity="0 0 -9.81">
      <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"/>
    <mesh name="table" file="../objects/table/base_link.STL" scale="2.0 2.0 2.0"/>
    <mesh file="../objects/can/can.stl" name="gla_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"/>
    <texture file="../objects/can/glass.png" name="tex-gla"/>
    <material name="glass" reflectance="0.7" texrepeat="5 5" texture="tex-gla" texuniform="true"/>
    <texture file="../objects/can/ceramic.png" name="tex-cer"/>
    <material name="ceramic" reflectance="0.7" texrepeat="5 5" texture="tex-cer" 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" quat="1 0 0 0">
        <!-- <freejoint/> -->
        <inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
        <geom type="mesh"  rgba="1 1 1 1" mesh="table"/>
    </body>

    <body name="green" pos="0.8 -0.2 0.46">
      <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" friction="1 0.005 0.0001" material="glass"/>
      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" material="glass"/>
    </body>

    <body name="red" pos="0.8 0.3 0.46">
      <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" friction="1 0.005 0.0001" material="coke"/>
      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" material="coke"/>
    </body>

    <body name="gray" pos="0.8 0.0 0.46">
      <joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" friction="1 0.005 0.0001" material="ceramic"/>
      <geom pos="0 0 0" size="0.02 0.04" type="cylinder" material="ceramic"/>
    </body>


  </worldbody>

</mujoco>
