<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/409/409.stl" name="obj0" scale="0.006323377360111677 0.006323377360111677 0.006323377360111677" />
	</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 0.17">
			<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
		</body>

		<body name="table_top" pos="1.3 0.75 0.36">
			<joint damping="0.01" name="table_top:joint" type="free" />
			<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
			<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
			<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
			<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />

			<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
		</body>

		<body name="object0" pos="0.01867352458019295 0.04 0.02550980056304933" zaxis="1.0 0.0 0.0">
			<joint damping="0.01" name="object0:joint" type="free" />
			
			<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
			
			
			
			<geom condim="3" mass="2" material="block_mat" pos="-0.004628012044253539 -0.007114366796570428 0.035126817814115585" size="0.012201065286716098 0.015339929037816714 0.05035427906806099" type="box" zaxis="1.0 0.0 0.0" />
			<site name="object0" pos="0.004388999097703605 -0.01381083467475339 0.0034460633262475395" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
			<site name="handle0" pos="-0.004628012044253539 -0.007114366796570428 0.02512681781411558" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
		</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>