<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures"></compiler>
	<option timestep="0.002">
		<flag warmstart="enable"></flag>
	</option>

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

	<asset>
		<mesh file="../../stls/fetch/random_urdfs/000/000.stl" name="obj0" scale="0.0076 0.0076 0.0076"></mesh>
	</asset>

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

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

		<body pos="1.3 0.75 0.2" name="table0">
			<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
		</body>

		<body name="object0" pos="0.01953466 0.04079717 0.01462441">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<!-- visual mesh -->
			<geom type="mesh" mesh="obj0" pos="0 0 0" condim="3" material="block_mat" mass="2"></geom>
			<!-- collision axis-align box -->
			<!-- <geom type="box" size="0.01953466 0.04079717 0.01462441" pos="-0.00029084 -0.00016992 -0.00657581" rgba="1 0 0 0" condim="3" material="block_mat" mass="2"></geom> -->
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 0" type="ellipsoid"></site>
		</body>

		<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
	</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>
		<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
	</actuator>
</mujoco>
