<?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>

		<body name="floor0" pos="1 0.75 0">
			<geom name="floor0" pos="0.9 0 0" size="2.9 1.4 1" type="plane" condim="3" material="floor_mat"></geom>
			<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
		</body>

		<include file="robot.xml"></include>
		
		<body name="table0" pos="2.57441906 0.75018422 0.2">
			<geom size="2.1 0.6 0.2" type="box" condim="3" name="table0" material="table_mat" mass="2000" friction="0.1 0.005 0.0001"></geom>
			<site name="mark0a" pos="-1.875 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark1a" pos="-1.25 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark2a" pos="-0.625 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark3a" pos="0 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark4a" pos="0.625 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark5a" pos="1.25 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark6a" pos="1.875 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark0b" pos="-1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark1b" pos="-1.25 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark2b" pos="-0.625 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark3b" pos="0 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark4b" pos="0.625 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark5b" pos="1.25 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark6b" pos="1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="init_a" pos="1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="init_b" pos="1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="init_c" pos="1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="init_d" pos="1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
		</body>

		<body name="object0" pos="0.025 0.025 0.02">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.02" type="cylinder" 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 1" type="sphere"></site>
		</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>
