<?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="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
		<body name="floor0" pos="0.8 0.75 0">
      <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
			<site name="target1" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 1 0 0" type="sphere"></site>
			<site name="target2" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="target3" 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 pos="1.3 0.75 0.2" name="table0">
			<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
		</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>
	</worldbody>

	<actuator></actuator>
</mujoco>
