<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
	<option timestep="0.002">
		<flag warmstart="enable"></flag>
	</option>

	<include file="shared.xml"></include>
	
	<worldbody>
		<geom name="floor0" pos="1 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
		<body name="floor0" pos="1 0.75 0">
			<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
		</body>

		<include file="robot.xml"></include>
		
		<body name="table0" pos="1.3 0.75 0.2">
			<geom size="0.625 0.45 0.2" type="box" condim="3" name="table0"
				  material="table_mat" mass="2000" friction="0.09 0.005 0.0001"></geom>
		</body>

		<!--body name="table0" pos="1.3 0.75 0.2">
			<geom size="0.625 0.45 0.2" type="box" condim="3" name="table0" material="table_mat" mass="2000"
				  friction="0.1 0.005 0.0001"></geom>
		</body-->

		<body pos="1.32 1.19 0.5" name="obstacle">
			<!--limited="true" range="-.05 .05"  damping='0.01' armature='0' frictionloss='0.1'-->
			<geom name="o" pos="0 0 0" size="0.04 0.365 0.1" type="box" rgba="0 0 1 1" mass="2000" material="table_mat"></geom>
			<joint name="obstacle:joint" type="slide" axis="0 1 0" limited="true" damping="0.01" range="-0.21 0.21" margin="0.03"></joint>
		</body>

		<body pos="1.32 0.31 0.5" name="obstacle2">
			<!--limited="true" range="-.05 .05"  damping='0.01' armature='0' frictionloss='0.1'-->
			<geom name="o2" pos="0 0 0" size="0.04 0.365 0.1" type="box" rgba="0.5 0. 0.5 1" mass="2000" material="table_mat"></geom>
			<joint name="obstacle2:joint" type="slide" axis="0 1 0" limited="true" damping="0.01" range="-0.21 0.21" margin="0.03"></joint>
		</body>

		<!--body name="object0" pos="0.025 0.025 0.02">
			<joint name="object0:joint" type="free" damping="0.001"></joint>
			<geom size="0.05 0.02" type="cylinder" rgba="1 0 0 1" condim="3" name="object0" material="puck_mat"
				  friction="0.1 0.005 0.0001" mass="2"></geom>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
		</body-->

		<body name="object0" pos="1.12 0.75 0.422">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom size="0.05 0.02" type="cylinder" rgba="1 0 0 1" condim="3" name="object0" material="puck_mat"
				  solref="0.01 1" mass="2" friction="0.09 0.005 0.0001"></geom>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
		</body>

		<!--body name="lookat" pos="1.4 .75 0.2">
			<geom size="0.005 0.005 0.005" type="sphere" rgba="1 0 0 0"></geom>
		</body>
		<body name="camera rig" pos="1.4 .75 4.5">
			<camera name="cam_top" mode="targetbody" target="lookat" pos="0 0 0" fovy="15"></camera>
		</body-->

		<body name="lookat" pos="1.12 .75 0.3"><!--inside table so there is no collision-->
			<geom size="0.005 0.005 0.005" type="sphere" rgba="1 0 0 0"></geom>
		</body>
		<body name="camera rig" pos="1.12 0.75 7">
			<camera name="cam_top" mode="targetbody" target="lookat" pos="0 0 0" fovy="15"></camera>
		</body>

		<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
	</worldbody>

	<actuator></actuator>
</mujoco>
