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# Copyright 2019 Google LLC
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# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
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# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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<mujoco model='dclaw3xh_valve3'>
    <include file='../../../env_models/scenes/basic_scene.xml' />
    <include file='../../../env_models/dclaw/assets/dependencies3xh.xml' />
    <include file='../../../env_models/dclaw/dclaw_stations/dependencies.xml' />
    <compiler meshdir='../../../env_models/dclaw' texturedir="../../../env_models/dclaw"/>

    <worldbody>

        <!-- camera -->
		<camera name='targeting' pos='1 1 2' mode='targetbodycom' target='dClaw'/>

        <!-- dclaw mount + overlay -->
		<body name='mount' pos='0 0 .335' euler='0 0 0'>
            <geom name='mount' type="cylinder" size='0.03 0.005' rgba='.7 .7 .7 1'/>
	        <include file='../../../env_models/dclaw/assets/chain3xh.xml'/>
	        <include file='../../../env_models/dclaw/assets/chain3xh_overlay.xml'/>
	    </body>

        <!-- the valve -->
        <body name="object" pos="0 0 0.0001">
            <include file='../../../env_models/dclaw/assets/valve3.xml'/>
        </body>

        <!-- green mark for the target -->
        <body name="target" pos="0 0 0" >
            <site name="tmark" type='capsule' size='.003 0.04' pos='.04 0 0' rgba='0 1 0 1' euler='0 1.57 0'/>
        </body>

    </worldbody>

</mujoco>
