<?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="1" conaffinity="1" friction=".6 0.005 0.0001"/>
        </default>
        <site rgba="1 0 0 .5"/>
    </default>
    <asset>
        <include file="kuka/kuka_assets.xml"/>
    </asset>
    <worldbody>
        <geom class="collision" type="plane" size="10 10 1"/>
        <include file="kuka/kuka_mesh_collision.xml"/>
    </worldbody>
    <actuator>
        <include file="kuka/kuka_actuators.xml"/>
    </actuator>
</mujoco>
