<?xml version="1.0" ?>

<mujoco>
    <compiler angle="radian" coordinate="local" meshdir="meshes/"/>

    <option>
        <flag gravity="enable"/>
    </option>

    <default>
        <joint damping="0.5"/>
        <default class="visual">
            <geom contype="0" conaffinity="0"/>
        </default>
        <default class="collision">
            <geom contype="0" conaffinity="0"/>
        </default>
        <site rgba="1 0 0 .5"/>
    </default>

    <asset>
        <include file="kuka/kuka_assets.xml"/>
        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
    </asset>

    <worldbody>
        <light pos="0 0 1000" castshadow="false"/>
        <geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
        <body name="kuka_table" pos="0 0 1">
            <geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
            <body name="kuka_base" pos=".2 0 0">
                <include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
            </body>
        </body>
    </worldbody>

    <actuator>
        <include file="kuka/kuka_actuators.xml"/>
    </actuator>

    <sensor>
        <include file="peg/peg_sensors.xml"/>
    </sensor>
</mujoco>
