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

	<include file="../fetch/shared.xml"/>
	<option gravity="0 0 -9.81"/>
	<worldbody>
		<geom name="floor0" pos="0.8 0.75 0" size="2.85 0.7 1" type="plane" condim="3" material="floor_mat"/>
		<!--<body name="floor0" pos="0.8 0.75 0">-->
			<!--<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>-->
		<!--</body>-->

		<!--<body name="object0" pos="1.2 0.75 1">-->
			<!--<joint name="object0:joint" type="free" damping="0.01"/>-->
			<!--<geom size="0.025 0.025 0.025" type="sphere" condim="3" name="object0" rgba="1 0 0 1" mass="2"/>-->
			<!--&lt;!&ndash;material="table_mat"&ndash;&gt;-->
			<!--&lt;!&ndash;<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>&ndash;&gt;-->
		<!--</body>-->

		<!-- Target -->
		<body name="tar" pos="2.2 0.75 1">
			<joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
			<joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
			<joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
			<geom size="0.025 0.025 0.025" type="sphere" condim="1" name="tar" rgba="1 0 0 1" mass="0.01" friction="0 0 0" solimp="1 1 0"  solref="0.1 0.03"/>
			<site name="tar" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
			<!--<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>-->
		</body>

		<include file="robot_keep_up.xml"/>

		<!--<body pos="1.3 0.75 0.2" name="table0">-->
			<!--<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>-->
		<!--</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"/>
	</worldbody>

	<actuator/>
</mujoco>