<mujoco model="plate">
    <!-- <compiler angle="radian" meshdir="meshes/" />
    <size njmax="500" nconmax="100" /> -->
    <asset>
        <mesh name="plate" file="meshes/plate.stl" scale="0.001 0.001 0.001"/>
    </asset>
    <worldbody>
        <body>
            <body name="object">
                <site name= "plate_frame" pos = "0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="sphere" group="1" />
                <inertial pos="0 0 0" mass="0" fullinertia="1 1 1 0 0 0" />
                <geom pos="-0.15 0.15 0" euler="1.57 0 0" type="mesh" contype="0" conaffinity="0" group="1" mesh="plate" rgba="1 1 1 1"/>
                <geom pos="-0.15 0.15 0" euler="1.57 0 0" type="mesh" contype="1" conaffinity="1" group="0" mesh="plate" rgba="1 1 1 1" friction="1 0.005 0.0001" solimp="0.9 0.95 0.1" solref="0.02 1" name="plate_collision"/>
                <!-- This site was added for visualization. -->
                <site name="grip_site" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 1 0 0.5" type="sphere" group="1"/> 
                <!-- This site was added for visualization. -->
                <site name="grip_site_cylinder" pos="0 0 0.055" size="0.005 10" rgba="0 1 0 0.3" type="cylinder" group="1"/>
            </body>
        </body>
    </worldbody>
    <sensor>
        <force name="force_ee" site="plate_frame"/>
        <torque name="torque_ee" site="plate_frame"/>
    </sensor>
</mujoco>
