<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<compiler angle="radian" coordinate="local" meshdir="meshes/" texturedir="../textures"></compiler>
	<option timestep="0.002">
		<flag warmstart="enable"></flag>
	</option>

	<include file="shared.xml"></include>
	
	<worldbody>
		<geom name="floor0" pos="0.8 0 -0.92" size="2.85 2.7 1" type="plane" condim="3" material="floor_mat" ></geom>
		<body name="floor0" pos="0.8 0 -0.92">
			<site name="target0" pos="0 0 0.76225" size="0.0225 0.0225 0.0225" rgba="1 0 0 1" type="sphere"></site> <!-- target size : 4.5cm -->
		</body>

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

		<body pos="0.8 0 -0.55" name="table0">		<!-- table high: 74cm -->
			<geom size="0.65 0.75 0.37" type="box" mass="2000" material="table_mat"></geom>
		</body>
		
		<body name="object0" pos="0.6 0 0.76225">
			<joint name="object0:joint" type="free" damping="0.01" limited="false"/>
			<geom size="0.0225 0.0225 0.0225" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom> <!-- object size : 4.5cm -->
			<site name="object0" pos="0 0 0" size="0.020 0.020 0.020" 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 ctrllimited="true" ctrlrange="0 0.020833" joint="robot0:l_gripper_l_finger_joint" kp="100000" name="l_gripper_l_finger_joint" user="1"></position>
			<position ctrllimited="true" ctrlrange="0 0.020833" joint="robot0:l_gripper_r_finger_joint" kp="100000" name="l_gripper_r_finger_joint" user="1"></position> -->
		<position ctrllimited="true" ctrlrange="0 0.020833" joint="robot0:r_gripper_l_finger_joint" kp="10000" name="r_gripper_l_finger_joint" user="1"></position>
		<position ctrllimited="true" ctrlrange="0 0.020833" joint="robot0:r_gripper_r_finger_joint" kp="10000" name="r_gripper_r_finger_joint" user="1"></position>
  </actuator>
</mujoco>
