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

	<include file="shared.xml"/>
	
	<worldbody>
		<geom name="floor0" pos="0.8 0.75 0" size="0.85 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 0.001" rgba="1 0 0 1" type="cylinder"/>
		</body>

		<include file="robot.xml"/>
		
		<body pos="1.3 0.75 0.2" name="table0">
			<geom size="0.28 0.28 0.2" type="box" mass="2000" material="table_mat" rgba="0.75 0.75 0.75 1" />
		</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>
