<mujoco model="block">
    <compiler angle="radian" autolimits="true" />
    <option impratio="10" />
    <custom>
        <text name="semantic_class" data="block" />
    </custom>

    <asset>
        <material name="block_pastel_red" rgba="1.0 0.41 0.38 1.0" reflectance="0" specular="0.0" shininess="0" />
    </asset>

    <worldbody>
        <body name="block_body" pos="0.0 0.5 0.1">
<!--            <freejoint />-->
            <geom type="box" size="0.02 0.02 0.02" class="visual" material="block_pastel_red"/>
            <geom type="box" size="0.02 0.02 0.02" class="collision" />
            <!-- note: if mass is too light, block can't be grasped -->
            <!-- for visualization -->
            <!-- <camera name="block tracker" mode="track" pos="0.2 0 0" euler="1.57 1.57 0" /> -->
            <!-- for grasping -->
            <camera name="block_view" mode="track" pos="-0.08 -0.08 0.08"
                xyaxes="0.694 -0.720 0.000 0.379 0.366 0.850" />

        </body>
    </worldbody>
</mujoco>
