<mujoco model="pushing2d">

    <compiler inertiafromgeom="auto" angle="radian" coordinate="local" />
    <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="75" euler="0 0 0" pos="0 0 .75"/>
        <body name="particle" pos="0 0 0.03">
            <inertial pos="0 0 0" mass="5" diaginertia="166.667 166.667 166.667"/>
            <geom name="particle_geom" type="sphere" size="0.05" rgba="0.9 0 0.1 1" />
            <joint name="ball_x" type="slide" pos="0 0 0" axis="1 0 0" />
            <joint name="ball_y" type="slide" pos="0 0 0" axis="0 1 0" />

            <!--<body name="sens0body" pos="0 0 0" euler="0 0 0">-->
            <!--<site name="sensorsurf0" pos="0.05 0 0" size=".01 .01 .01" type="ellipsoid" rgba="0.3 0.2 0.1 1"/>-->
            <!--</body>-->

            <!--<body euler="0 0 0.0" name="sensbody0" pos="0 0 0">-->
            <!--<site euler="0 0 4.88495559215" name="sensorsurf0" pos="0.051 0 0" rgba="0.3 0.2 0.1 1" size="0.008 0.008 0.008" type="ellipsoid"/>-->
            <!--</body>-->


            <site name="sensorsurf0" pos="0.05 0.0 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf1" pos="0.0476 0.0155 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf2" pos="0.0405 0.0294 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf3" pos="0.0294 0.0405 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf4" pos="0.0155 0.0476 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf5" pos="0.0 0.05 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf6" pos="-0.0155 0.0476 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf7" pos="-0.0294 0.0405 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf8" pos="-0.0405 0.0294 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf9" pos="-0.0476 0.0155 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf10" pos="-0.05 0.0 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf11" pos="-0.0476 -0.0155 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf12" pos="-0.0405 -0.0294 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf13" pos="-0.0294 -0.0405 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf14" pos="-0.0155 -0.0476 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf15" pos="-0.0 -0.05 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf16" pos="0.0155 -0.0476 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf17" pos="0.0294 -0.0405 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf18" pos="0.0405 -0.0294 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>
            <site name="sensorsurf19" pos="0.0476 -0.0155 0" rgba="0.3 0.2 0.1 0" size="0.008 0.008 0.008" type="ellipsoid"/>

        </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="object1" pos="0 0 0">
            <site name="reference_point" pos="0 0 0.02" size="0.025" type="sphere" rgba="0.9 0.2 0.1 0"/>
            <joint type="free"/>
            <geom type="box" size=".03 .1 .03" rgba="0.5 0.0 0.1 1" />
            <geom type="box" pos=".1 .1 0.0" size=".1 0.03 .03" rgba="0.5 0.0 0.1 1" />
        </body>


        <body name="goal_body" pos="0 0 0">
            <geom name="goal_point" pos="0 0 0.02" size="0.025" type="sphere" contype="0" conaffinity="0" rgba="0.1 0.2 0.9 0"/>
            <joint name="goalbody_x" type="slide" pos="0 0 0" axis="1 0 0" />
            <joint name="goalbody_y" type="slide" pos="0 0 0" axis="0 1 0" />
        </body>

    </worldbody>

     <sensor>
        <!--<touch name="touchsensor0" site="sensorsurf0" />-->
        <!--<touch name="touchsensor1" site="sensorsurf1" />-->

        <touch name="touchsensor0" site="sensorsurf0"/>
        <touch name="touchsensor1" site="sensorsurf1"/>
        <touch name="touchsensor2" site="sensorsurf2"/>
        <touch name="touchsensor3" site="sensorsurf3"/>
        <touch name="touchsensor4" site="sensorsurf4"/>
        <touch name="touchsensor5" site="sensorsurf5"/>
        <touch name="touchsensor6" site="sensorsurf6"/>
        <touch name="touchsensor7" site="sensorsurf7"/>
        <touch name="touchsensor8" site="sensorsurf8"/>
        <touch name="touchsensor9" site="sensorsurf9"/>
        <touch name="touchsensor10" site="sensorsurf10"/>
        <touch name="touchsensor11" site="sensorsurf11"/>
        <touch name="touchsensor12" site="sensorsurf12"/>
        <touch name="touchsensor13" site="sensorsurf13"/>
        <touch name="touchsensor14" site="sensorsurf14"/>
        <touch name="touchsensor15" site="sensorsurf15"/>
        <touch name="touchsensor16" site="sensorsurf16"/>
        <touch name="touchsensor17" site="sensorsurf17"/>
        <touch name="touchsensor18" site="sensorsurf18"/>
        <touch name="touchsensor19" site="sensorsurf19"/>
     </sensor>

    <actuator>
        <motor joint="ball_x" ctrlrange="-100.0 100.0" ctrllimited="true"/>
        <motor joint="ball_y" ctrlrange="-100.0 100.0" ctrllimited="true"/>
    </actuator>
</mujoco>
