<mujoco>
	<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
	<option timestep="0.002">
		<flag warmstart="enable" />
	</option>

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

	<asset>
		<mesh file="../../stls/fetch/random_urdfs/115/115.stl" name="obj0" scale="0.005611863985533176 0.005611863985533176 0.005611863985533176" />
	</asset>

	<worldbody>
		<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
		<body name="floor0" pos="0.8 0.75 0">
			<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
		</body>

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

		<body name="table0" pos="1.3 0.75 0.17">
			<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
		</body>

		<body name="table_top" pos="1.3 0.75 0.36">
			<joint damping="0.01" name="table_top:joint" type="free" />
			<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
			<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
			<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
			<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />

			<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
		</body>

		<body name="object0" pos="0.027042062954872263 0.04 0.025756494347134336" zaxis="0.0 0.0 1.0">
			<joint damping="0.01" name="object0:joint" type="free" />
			
			<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
			
			
			
			<geom condim="3" mass="2" material="block_mat" pos="-0.0025727021248310154 -0.009175718330918268 0.02870226770763386" size="0.013165733664621572 0.026144057753399 0.05082155638913534" type="box" zaxis="0.0 0.0 1.0" />
			<site name="object0" pos="0.00214420776501918 -0.009075107117435406 0.0036372056656328597" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
			<site name="handle0" pos="-0.0025727021248310154 -0.009175718330918268 0.01870226770763386" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
		</body>

		<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
	</worldbody>

	<actuator>
		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
	</actuator>
</mujoco>