<?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_joint_space.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 1" type="sphere"></site>
		</body>

		<include file="robot_joint_space.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>
		
		<body name="object0" pos="0.025 0.025 0.025">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" 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>
	</worldbody>

	<actuator>
		<position ctrlrange="-1.6056 1.6056" joint="robot0:shoulder_pan_joint" name="robot0:shoulder_pan_joint" forcerange="-33.82 33.82" kp="100"></position> 
		<position ctrlrange="-1.221 1.518" joint="robot0:shoulder_lift_joint" name="robot0:shoulder_lift_joint" forcerange="-131.76 131.76" kp="100"></position>
		<position joint="robot0:upperarm_roll_joint" name="robot0:upperarm_roll_joint" forcerange="-76.94 76.94" kp="100"></position>
		<position ctrlrange="-2.251 2.251" joint="robot0:elbow_flex_joint" name="robot0:elbow_flex_joint" forcerange="-66.18 66.18" kp="100"></position>
		<position joint="robot0:forearm_roll_joint" name="robot0:forearm_roll_joint" forcerange="-29.35 29.35" kp="100"></position>
		<position ctrlrange="-2.16 2.16" joint="robot0:wrist_flex_joint" name="robot0:wrist_flex_joint" forcerange="-25.70 25.70" kp="100"></position>
		<position joint="robot0:wrist_roll_joint" name="robot0:wrist_roll_joint" forcerange="-7.36 7.36" kp="100"></position>
		<position ctrlrange="0 0.2" ctrllimited="true" joint="robot0:l_gripper_finger_joint" name="robot0:l_gripper_finger_joint" forcerange="-60 60" kp="30000" user="1"></position>
		<position ctrlrange="0 0.2" ctrllimited="true" joint="robot0:r_gripper_finger_joint" name="robot0:r_gripper_finger_joint" forcerange="-60 60" kp="30000" user="1"></position>
	</actuator>
</mujoco>

