<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/043/043.stl" name="obj0" scale="0.012778675193165312 0.012778675193165312 0.012778675193165312" />
	</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 0.2">
			<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
		</body>

		<body name="object0" pos="0.030784953063752236 0.07338185537429404 0.017196755186437495">
			<joint damping="0.01" name="object0:joint" type="free" />
			
			<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
			
			
			<site name="object0" pos="0.0019442507838569566 -0.014993531249933469 -0.0013361299802034543" rgba="1 0 0 0" size="0.015392476531876118 0.03669092768714702 0.008598377593218747" type="ellipsoid" />
		</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>