<?xml version="1.0" ?>

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

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

  <default> 
    <joint damping="0.5"/>   
    <default class="visual">
      <geom contype="0" conaffinity="0"/>
    </default>
    <default class="collision">
      <geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
    </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>
    <body pos=".85 0 1.3" mocap="true">
      <include file="hole/polyhedral_hole_inner=0-014318_outer=0-10_height=0-05_num_facets=16_id=024.xml"/>
    </body>
  </worldbody>

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

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