<mujoco model="bin">
  <compiler angle="radian" autolimits="true"/>
  <option impratio="10"/>

  <asset>
    <material name="grey_bin" rgba="0.8 0.8 0.8 1.0"/>
  </asset>

  <worldbody>
    <body name="bin_body" pos="0.0 -0.3 0.13" euler="0 0 0">
      <!-- bottom -->
      <geom size="0.17 0.17 0.01" class="visual" type="box" pos="0 0 -0.07"
            material="grey_bin"/>
      <!-- left and right -->
      <geom size="0.17 0.01 0.08" class="visual" type="box" pos="0 0.16 0" material="grey_bin"/>
      <geom size="0.17 0.01 0.08" class="visual" type="box" pos="0 -0.16 0"
            material="grey_bin"/>
      <!-- front and back -->
      <geom size="0.01 0.17 0.08" class="visual" type="box" pos="0.16 0 0" material="grey_bin"/>
      <geom size="0.01 0.17 0.08" class="visual" type="box" pos="-0.16 0 0"
            material="grey_bin"/>

      <!-- bottom -->
      <geom size="0.17 0.17 0.01" class="collision" type="box" pos="0 0 -0.07"/>
      <!-- left and right -->
      <geom size="0.17 0.01 0.08" class="collision" type="box" pos="0 0.16 0"/>
      <geom size="0.17 0.01 0.08" class="collision" type="box" pos="0 -0.16 0"/>
      <!-- front and back -->
      <geom size="0.01 0.17 0.08" class="collision" type="box" pos="0.16 0 0"/>
      <geom size="0.01 0.17 0.08" class="collision" type="box" pos="-0.16 0 0"/>
    </body>
  </worldbody>
</mujoco>
