<?xml version="1.0" encoding="utf-8"?>
<mujoco> 
	<compiler angle="radian" coordinate="local" meshdir="fetch" texturedir="texture"></compiler>
	<size nconmax="2000" njmax="500"/>
	<option timestep="0.002">
		<flag warmstart="enable"></flag>
	</option>
	<include file="shared.xml"></include>
	<worldbody>
		
		<body name="floor0" pos="0 0 0">
			<geom name="floorgeom0" pos="1.2 -2.0 0" size="1.0 10.0 1" type="plane" condim="3" material="floor_mat"></geom>
			<site name="target0" pos="1.605 0.3 0.58" size="0.0475 0.001" rgba="1 0 0 1" type="cylinder"></site>
		</body>

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

		<body pos="0.75 0 0.71" name="pedestal0">
			<geom name="pedestalgeom0" size="0.4 0.4 0.01" type="box" mass="2000" material="pedestal_mat"></geom>
			<site pos="0.30 0.30 0" size="0.075 0.075 0.002" type="box" name="robotmountsite0" rgba="0.55 0.54 0.53 1" />
		</body>
		
		<body pos="1.555 0.3 0.53625" name="table0">
			<geom name="tablegeom0" size="0.3 0.6 0.04375" type="box" material="table_mat_white" density="2000" friction="1 0.005 0.0001"></geom>
			<!-- <site pos="-0.1 0 0.19" size="0.3 0.3 0.002" type="box" name="vis" rgba="0 0 0 0.2" /> -->
		</body>

		
		
		<light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="1.65 0 10" dir="-0.57 -0.57 -0.57" name="light0"></light>
        <light directional="true" ambient="0.1 0.1 0.1" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="0 -4 4" dir="0 1 -0.1" name="light1"></light>
        <light directional="true" ambient="0.05 0.05 0.05" diffuse="0 0 0" specular="0 0 0" castshadow="false" pos="2.13 1.6 2.5" name="light2"></light>
        <light pos="0 0 2" dir="0.2 0.2 -0.8" directional="true"  diffuse="0.3 0.3 0.3"  castshadow="false" name="light3"></light>
		
		<body name="camera_target" pos="1.5 0.3 0.9">
            <geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0 1 0" size="0.0475 0.0475 0.001" type="box"></geom>
        </body>
		
		<camera fovy="50" name="third_person" pos="2.10 0.3 1.4" euler="0 0.83 1.57"/>

	</worldbody>
	
	<equality>
    	<connect body2="left_finger" body1="left_inner_knuckle" anchor="0.0 0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
    	<connect body2="right_finger" body1="right_inner_knuckle" anchor="0.0 -0.035 0.042" solimp="0.9 0.95 0.001 0.5 2" solref="0.0002 1.0" ></connect>
        <joint joint1="left_inner_knuckle_joint" joint2="right_inner_knuckle_joint"></joint>
    </equality>
    <actuator>
    	<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_inner_knuckle_joint" gear="200.0"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_inner_knuckle_joint" gear="200.0"/>
    </actuator>
</mujoco>
