<?xml version="1.0" ?>

<mujoco>
  <compiler angle="radian" coordinate="local" meshdir="meshes/"/>
  <option>
    <flag gravity="disable"/>
  </option>
  <default> 
    <joint damping="0.5"/>   
    <default class="visual">
      <geom contype="0" conaffinity="0"/>
    </default>
    <default class="collision">
      <geom contype="1" conaffinity="1" friction=".6 0.005 0.0001"/>
    </default>
    <site rgba="1 0 0 .5"/>
  </default>  
  <asset>
    <include file="kuka/kuka_assets.xml"/>
  </asset>
  <worldbody>
    <geom class="collision" type="plane" size="10 10 1"/>
    <include file="kuka/kuka_mesh_collision.xml"/>
  </worldbody>
  <actuator>
    <include file="kuka/kuka_actuators.xml"/>
  </actuator>
</mujoco>
