<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ 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
 ~
 ~ 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.
 ~ See the License for the specific language governing permissions and
 ~ limitations under the License.
 -->

<?xml version="1.0"?>
<mujoco model="dkitty-v2.1">
  <include file="../scenes/basic_scene.xml"/>
  <include file="assets/dependenciesA_xh-v2.1.xml"/>
  <include file="assets/dependenciesB_xh-v2.1.xml"/>
  <compiler meshdir="."/>
  <worldbody>
    <body name="A:kitty_frame" pos="0.2 0 0.3">
      <camera name="A:trackingZ" pos="0 0 3" zaxis="0 0 3" mode="trackcom"/>
      <camera name="A:trackingY" pos="1.5 1.5 .35" xyaxes="-.7 1 0 0 -.3 1" mode="trackcom"/>
      <joint name="A:Tx" pos="0 0 0" axis="1 0 0" limited="true" type="slide" range="-5 5"/>
      <joint name="A:Ty" pos="0 0 0" axis="0 1 0" limited="true" type="slide" range="-5 5"/>
      <joint name="A:Tz" pos="0 0 0" axis="0 0 1" limited="true" type="slide" range="-2 2"/>
      <joint name="A:Rx" pos="0 0 0" axis="1 0 0" limited="true" range="-1.57 1.57"/>
      <joint name="A:Ry" pos="0 0 0" axis="0 1 0" limited="true" range="-1.57 1.57"/>
      <joint name="A:Rz" pos="0 0 0" axis="0 0 1" limited="true" range="-1.57 1.57"/>
      <include file="assets/chainA_xh-v2.1.xml"/>
    </body>
    <body name="B:kitty_frame" pos="-.2 0 0.3">
      <camera name="B:trackingZ" pos="0 0 3" zaxis="0 0 3" mode="trackcom"/>
      <camera name="B:trackingY" pos="1.5 1.5 .35" xyaxes="-.7 1 0 0 -.3 1" mode="trackcom"/>
      <joint name="B:Tx" pos="0 0 0" axis="1 0 0" limited="true" type="slide" range="-5 5"/>
      <joint name="B:Ty" pos="0 0 0" axis="0 1 0" limited="true" type="slide" range="-5 5"/>
      <joint name="B:Tz" pos="0 0 0" axis="0 0 1" limited="true" type="slide" range="-2 2"/>
      <joint name="B:Rx" pos="0 0 0" axis="1 0 0" limited="true" range="-1.57 1.57"/>
      <joint name="B:Ry" pos="0 0 0" axis="0 1 0" limited="true" range="-1.57 1.57"/>
      <joint name="B:Rz" pos="0 0 0" axis="0 0 1" limited="true" range="-1.57 1.57"/>
      <include file="assets/chainB_xh-v2.1.xml"/>
    </body>
  </worldbody>
</mujoco>
