sim = SIMULATOR_MODEL()
sim.create_pusher('3.0 3.0 0.05')
physical_parameters_for_object_id_tray = { 
             'sliding-friction': 0.1,
             'armature': 0.1,
             'stiffness': 0.0,
             'mass': 0.5,
             'damping': 20
         }
sim.create_tray(object_physics = physical_parameters_for_object_id_tray)
physical_parameters_for_object_id_1 = { 
             'sliding-friction': 0.9,
             'armature': 1.0,
             'stiffness': 0.2,
             'mass': 10.0, # 'mass' is 20.0 for bottle, 10.0 for martini_glass, and 5.0 for wine_glass
             'damping': 1.0
         }
sim.create_object(object_id=1, object_name='martini_glass', object_location=('row_1', 'column_2'), object_color='cyan', object_physics=physical_parameters_for_object_id_1)

physical_parameters_for_object_id_2 = { 
             'sliding-friction': 0.9,
             'armature': 1.0,
             'stiffness': 0.2,
             'mass': 10.0, # 'mass' is 20.0 for bottle, 10.0 for martini_glass, and 5.0 for wine_glass
             'damping': 1.0
         }
sim.create_object(object_id=2, object_name='martini_glass', object_location=('row_3', 'column_2'), object_color='green', object_physics=physical_parameters_for_object_id_2)

physical_parameters_for_object_id_3 = { 
             'sliding-friction': 1.0,
             'armature': 0.8,
             'stiffness': 0.3,
             'mass': 4.0, # 'mass' is 20.0 for bottle, 10.0 for martini_glass, and 5.0 for wine_glass
             'damping': 7.8
         }
sim.create_object(object_id=3, object_name='wine_glass', object_location=('row_1', 'column_3'), object_color='red', object_physics=physical_parameters_for_object_id_3)

physical_parameters_for_object_id_4 = { 
             'sliding-friction': 0.4,
             'armature': 0.4,
             'stiffness': 0.7,
             'mass': 20.0, # 'mass' is 20.0 for bottle, 10.0 for martini_glass, and 5.0 for wine_glass
             'damping': 2.1
         }
sim.create_object(object_id=4, object_name='bottle', object_location=('row_1', 'column_1'), object_color='olive', object_physics=physical_parameters_for_object_id_4)

physical_parameters_for_object_id_5 = { 
             'sliding-friction': 1.0,
             'armature': 0.8,
             'stiffness': 0.3,
             'mass': 4.0, # 'mass' is 20.0 for bottle, 10.0 for martini_glass, and 5.0 for wine_glass
             'damping': 7.8
         }
sim.create_object(object_id=5, object_name='wine_glass', object_location=('row_2', 'column_3'), object_color='blue', object_physics=physical_parameters_for_object_id_5)


sim.create_scene()
sim_out=sim.run_simulation()
del sim
