<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/020/020.stl" name="obj0" scale="0.007474973058815749 0.007474973058815749 0.007474973058815749" />
	</asset>

	<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 0" size="0.02 0.02 0.02" type="sphere" />
		</body>

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

		

		<body name="table" pos="1.3 0.75 0.2">
			<joint damping="0.01" name="table:joint" type="free" />
			<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
			<body name="switch" pos="0.018515530691605785 0.05469679228765283 0.22722387430512614">
		    <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
				
				<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
				
				
				<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
			</body>
    </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>
</mujoco>