<?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>

		<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>
		<motor ctrllimited="true" ctrlrange="-33.82 33.82" joint="robot0:shoulder_pan_joint" name="robot0:shoulder_pan_joint"></motor> 
		<motor ctrllimited="true" ctrlrange="-131.76 131.76" joint="robot0:shoulder_lift_joint" name="robot0:shoulder_lift_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-76.94 76.94" joint="robot0:upperarm_roll_joint" name="robot0:upperarm_roll_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-66.18 66.18" joint="robot0:elbow_flex_joint" name="robot0:elbow_flex_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-29.35 29.35" joint="robot0:forearm_roll_joint" name="robot0:forearm_roll_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-25.70 25.70" joint="robot0:wrist_flex_joint" name="robot0:wrist_flex_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-7.36 7.36" joint="robot0:wrist_roll_joint" name="robot0:wrist_roll_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-60 60" joint="robot0:r_gripper_finger_joint" name="robot0:r_gripper_finger_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-60 60" joint="robot0:l_gripper_finger_joint" name="robot0:l_gripper_finger_joint"></motor>
	</actuator>
</mujoco>
