<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<default>
        <joint armature="1" damping="1" limited="true"/>
        <geom contype="0" friction="0.5 0.5 0.1" rgba="0.7 0.7 0 1" solimp=".5 .5 .001" solref=".02 1"/>
    </default>

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

	<worldbody>


		<!-- <geom pos="0 0 -0.2" size="1 1 0.2" type="box" name="table" conaffinity="1" contype="1" condim="3" mass="2000" ></geom> -->


        <!-- Ground -->
        <geom conaffinity="1" contype="1" name="ground" pos="0 0 0" rgba="0.5 0.5 0.5 1.0" size="1 1 10" type="plane" condim="3" friction="0.01 0.01 0.01"/>
        <!-- Ground Center -->
<!--         <body name="center" pos="0. 0. 0.">
            <geom conaffinity="0" contype="0" name="center" pos="0 0 0" rgba="0. 0. 1.0 1" size=".009" type="sphere"/>
        </body>
 -->
		<light directional="true" ambient="0.1 0.1 0.1" diffuse="0.8 0.8 0.8" specular="0.2 0.2 0.2" castshadow="true" pos="0 0 4" dir="0 0 -1" name="light0"></light>
	</worldbody>

	<actuator></actuator>
</mujoco>
