<?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>
        <geom name="floor0" pos="1 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"
              rgba="0 0 0 0"></geom>
        <body name="floor0" pos="1 0.75 0">
            <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 1 1 0" type="sphere"></site>
        </body>

        <include file="robot.xml"></include>

        <body name="table0" pos="1.32441906 0.75018422 0.2">
            <geom size="0.625 0.45 0.2" type="box" condim="3" name="table0" material="table_mat" mass="2000"
                  friction="0.1 0.005 0.0001" rgba="0 0 0 0"></geom>
        </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" rgba="1 0 0 1"></geom>
            <site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 0" 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>
        <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.2 0.2 0.2" specular="0.3 0.3 0.3" castshadow="false"
               pos="0 0 -300" dir="0 0 1" name="light1"></light>

        <!-- camera setup for observation-->
        <body name="cam_focus" pos="1.15 0.75 .5">
            <geom size="0.025 0.025 0.025" type="sphere" rgba="1 0 0 0"></geom>
        </body>

        <camera name="cam_0" mode="targetbody" target="cam_focus" pos="1.15 0.75 -.2"></camera>
    </worldbody>

    <visual>
        <map znear='0.001'></map>
    </visual>

    <actuator></actuator>
</mujoco>
