<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ Licensed under the Apache License, Version 2.0 (the "License");
 ~ you may not use this file except in compliance with the License.
 ~ You may obtain a copy of the License at
 ~
 ~     http://www.apache.org/licenses/LICENSE-2.0
 ~
 ~ Unless required by applicable law or agreed to in writing, software
 ~ distributed under the License is distributed on an "AS IS" BASIS,
 ~ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 ~ See the License for the specific language governing permissions and
 ~ limitations under the License.
 -->

<?xml version="1.0"?>
<mujoco model="dkitty-v2.1">
  <compiler meshdir="./../../robel-scenes/dkitty" texturedir="../../robel-scenes/dkitty"/>
  <include file="./../../robel-scenes/scenes/basic_scene.xml"/>
  <include file="./../../robel-scenes/dkitty/assets/dependenciesA_xh-v2.1.xml"/>
  <worldbody>
    <site name="target" pos="0 1 0" type="cylinder" size=".5 .005 0" rgba="0 1 0 1"/>
    <site name="heading" pos="0 1 0.25" type="cylinder" size=".05 .35 0" rgba="1 1 0 1"/>
    <body name="kitty_frame" pos="0 0 .3">
      <camera name="trackingZ" pos="0 0 3" zaxis="0 0 3" mode="trackcom"/>
      <camera name="trackingY" pos="1.5 1.5 .35" xyaxes="-.7 1 0 0 -.3 1" mode="trackcom"/>
      <site name="torso" type="box" size=".090 .150 .007" group="4"/>
      <geom type="sphere" size="0.010" mass="0.010" group="4"/>
      <joint name="Tx" pos="0 0 0" axis="1 0 0" limited="true" type="slide" range="-10 10"/>
      <joint name="Ty" pos="0 0 0" axis="0 1 0" limited="true" type="slide" range="-10 10"/>
      <joint name="Tz" pos="0 0 0" axis="0 0 1" limited="true" type="slide" range="-2 2"/>
      <joint name="Rx" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14"/>
      <joint name="Ry" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14"/>
      <joint name="Rz" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14"/>
      <include file="./../../robel-scenes/dkitty/assets/chainA_xh-v2.1.xml"/>
    </body>
    <body name="block" pos="0 1 0.2">
      <geom name="block" type="box" size="0.3 0.3 0.2" rgba="0.9 0. 0.9 1" mass="0.1" group="4"/>
      <site name="block" type="box" size="0.3 0.3 0.2"/>
      <joint type="slide" axis="1 0 0" limited="false" pos="0 0 0"/>
      <joint type="slide" axis="0 1 0" limited="false" pos="0 0 0"/>
      <joint type="ball" axis="0 0 1" limited="false" pos="0 0 0"/>
    </body>
  </worldbody>
</mujoco>
