<mujoco>
  <include file="./common/materials.xml"/>
  <option timestep="0.01"/>
  <statistic center="0 0 0" extent="1.5"/>

  <worldbody>
    <light name="light" pos="0 0 3" directional = "true"/>
    <camera name="fixed" pos="0 -3 3" xyaxes="1 0 0 0 1 1"/>
    <geom name="floor" type="plane" size="5 5 0.1" pos="0 0 -0.245" rgba="0.4 0.4 0.4 1" material="motphys-ground"/>

    <body>
      <freejoint/>
      <geom name="freebox" type="box" size="0.1 0.1 0.1" pos="0.8 0 1" rgba="1 0 1 1"/>
    </body>

    <body name="car" pos = "0 0 0">
      <joint name="slider" type="slide" axis="1 0 0" limited="true" range = "-2 2"/>
      <geom name = "box" type="box" size="0.25 0.25 0.25" pos = "0 0 0 " rgba="1 0 0 1"/>
      <site name="car_imu" type="sphere" size="0.03" rgba="0 1 0 1" pos="0 0 0"/>

      <body name="bar" pos = "0 0 0.35">
          <joint name="hinge" type="hinge" limited="false" axis = "0 0 1"/>
          <geom name="bar" type="cylinder" size="1.5 0.1" pos = "0 0 0 " rgba="1 1 0 1"/>
          <site name="imu_0" type="sphere" size="0.03" rgba="0 1 0 1" pos="0 0 0"/>
          <site name="imu_1" type="sphere" size="0.03" rgba="0 1 0 1" pos="0 0.5 0"/>
          <site name="imu_2" type="sphere" size="0.03" rgba="0 1 0 1" pos="0 1.0 0"/>
      </body>
    </body>
  </worldbody>

  <actuator>
    <motor name="actuator_slider" joint="slider" gear="500"/>
    <motor name="actuator_hinge" joint="hinge" gear="500"/>
  </actuator>

  <sensor>
    <accelerometer name="acc_0" site="imu_0"/>
    <accelerometer name="acc_1" site="imu_1"/>
    <accelerometer name="acc_2" site="imu_2"/>
    <velocimeter name="vel_0" site="imu_0"/>
    <velocimeter name="vel_1" site="imu_1"/>
    <velocimeter name="vel_2" site="imu_2"/>
    <gyro name="gyro_0" site="imu_0"/>
    <gyro name="gyro_1" site="imu_1"/>
    <gyro name="gyro_2" site="imu_2"/>

    <accelerometer name="acc_3" site="car_imu"/>
    <velocimeter name="vel_3" site="car_imu"/>
    <gyro name="gyro_3" site="car_imu"/>

    <contact name="box_floor_contact" geom1="bar" geom2="freebox"
             data="found force pos normal tangent" num="4" reduce="none"/>
  </sensor>
</mujoco>