<mujoco>
	<include file="camera.xml"/>

	<!-- sensor for camera positions -->
	<sensor>
		<actuatorpos name="Sap_rgb_camera_jointz" actuator="A_rgb_camera_jointz"/>
		<actuatorpos name="Sap_rgb_camera_jointx" actuator="A_rgb_camera_jointx"/>

		<actuatorvel name="Sav_rgb_camera_jointz" actuator="A_rgb_camera_jointz"/>
		<actuatorvel name="Sav_rgb_camera_jointx" actuator="A_rgb_camera_jointx"/>

		<actuatorfrc name="Saf_rgb_camera_jointz" actuator="A_rgb_camera_jointz"/>
		<actuatorfrc name="Saf_rgb_camera_jointx" actuator="A_rgb_camera_jointx"/>
	</sensor>

	<!-- control camera angles -->
	<actuator>
		<position name="A_rgb_camera_jointx" joint="rgb_camera_jointx"  ctrlrange="-1.57 1.57"/>
		<position name="A_rgb_camera_jointz" joint="rgb_camera_jointz"  ctrlrange="-3.141592 3.141592"/>
	</actuator>

</mujoco>
