<!--
 ~ 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="dclaw3xh_valve3">
  <include file="../../robel-scenes/scenes/basic_scene.xml"/>
  <include file="../../robel-scenes/dclaw/assets/dependencies3xh_tactile.xml"/>
  <include file="../../robel-scenes/dclaw_stations/assets/dependencies.xml"/>
  <compiler meshdir="../../robel-scenes/dclaw" texturedir="../../robel-scenes/dclaw"/>
  <worldbody>
    <camera name="targeting" pos="1 1 2" mode="targetbodycom" target="dClaw"/>
    <camera name="object_target" pos="0 0 0.33" mode="targetbody" target="object"/>
    <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="../../robel-scenes/dclaw/assets/chain3xh.xml"/>
      <include file="../../robel-scenes/dclaw/assets/chain3xh_overlay.xml"/>
    </body>
    <body name="object" pos="0 0 0.0151">
      <include file="../../robel-scenes/dclaw_stations/assets/valve2.xml"/>
    </body>
    <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>
