<mujoco model="ridgeback_ur5_robotiq_two_finger_gripper">
    <compiler angle="radian" coordinate="local" />
    <size njmax="500" nconmax="100" />
    <option timestep="0.002">
		<flag warmstart="enable"></flag>
	</option>
    <asset>
        <include file="include/table_assets.xml"/>
        <include file="include/robot_assets.xml"/>
    </asset>

    <worldbody>
        <geom name="tableTop" material="MatGnd" type="plane" pos="0. 0. -0.3168" size="3.3 3.3 0.5" rgba="1. 1. 1. 1" contype="1" conaffinity="1"/>
        <body name="target0" pos="0.6 0.01 0.">
			<site name="target0" pos="0. 0. 0." size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
		</body>
        <include file="include/robot_find.xml"/>
        <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>
    <equality>
        <weld body1="robot:mocap" body2="robot:left_outer_finger" solimp="0.9 0.95 0.001" solref="0.02 1"/>
    </equality>
    <actuator></actuator>
</mujoco>
