<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/537/537.stl" name="obj0" scale="0.005719422301035284 0.005719422301035284 0.005719422301035284" />
	</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 0.2">
			<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
		</body>

		<body name="object0" pos="0.02426763751029449 0.034248475540540536 0.015034279359704188">
			<joint damping="0.01" name="object0:joint" type="free" />
			
			<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
			
			
			<site name="object0" pos="0.003965158105359652 0.0051054067164827835 -0.0005087461520614698" rgba="1 0 0 0" size="0.012133818755147244 0.017124237770270268 0.007517139679852094" type="ellipsoid" />
		</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>