<mujoco model="eSeries_UR16e">
	<include file="shared.xml"/>
	<include file="joint_actuations.xml"/>
    <equality>
		<weld body1="robot0:mocap" body2="robot0:plate_center" solimp="0.9 0.95 0.001" solref="0.02 1"/>
	</equality>
    <worldbody>
		<include file="tcp_mocap.xml" />
        <include file="robot.xml"/>
    </worldbody>
</mujoco>
