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

	<include file="shared.xml" />
	
	<worldbody>
		<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
		<body name="floor0" pos="0.8 0.75 0">
			<site name="target0" pos="0 0 0.5" rgba="1 0 0 1" size="0.02 0.02 0.02" type="sphere" />
		</body>

		<include file="robot.xml" />
		
		<body name="table0" pos="1.3 0.75 0.2">
			<geom mass="2000" material="table_mat" size="0.30 0.35 0.2" type="box" solref="0.000002 1" solimp="0.99 0.99 0.01"/>
		</body>
		
		<body name="object0" pos="0.025 0.025 0.025">
			<joint damping="0.01" name="object0:joint" type="free" />
			<geom condim="4" mass="0.1" material="block_mat" name="object0" size="0.025 0.025 0.025" type="box" friction="2 0.3 0.1" solimp="0.99 0.99 0.01" solref="0.01 1"/>
			<site name="object0" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" />
		</body>

		<body name="ext_camera_0" pos="1.3 0.75 0.8">
			<joint damping="0.01" name="ext_camera_0:joint" type="free" />
			<geom contype='0' conaffinity='0' name="ext_camera_0" size="0.025 0.025 0.025" type="box"/>
			<camera euler="0 0 0" fovy="45" name="ext_camera_0" pos="0 0 0"></camera>
		</body>


        <!--<body name="ref_cam" pos="3.3 -1.25 2.2" zaxis="1 -1 1">
	        <camera fovy="45.0" name="ref_cam" />
	    </body>	    -->
        <body name="ref_cam" pos="1.3 0.25 0.5" zaxis="0 -1 0" >
	        <camera fovy="45.0" name="ref_cam" />
	    </body>
	    <body name="front_view" pos="2.5 0.75 1.0" zaxis="0.94 0 0.34">
	        <camera fovy="45.0" name="front_view" />
	    </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="10000" name="robot0:l_gripper_finger_joint" user="1" />
		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="10000" name="robot0:r_gripper_finger_joint" user="1" />
	</actuator>
</mujoco>
