<mujoco>
    <asset>
        <mesh name="cambase" file="meshes/cambase.STL" />
        <mesh name="cam" file="meshes/cam.STL" />
        <mesh name="stick" file="meshes/stick.STL" />
    </asset>
   <worldbody>
        <body name="end_effector">
            <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
            <geom type="mesh" rgba="1 1 1 1" mesh="cambase" />

            <body name="cam" pos="0.065054 0.00068038 -0.013835" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
                <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
                <camera name="cam" mode="fixed" pos="0.0175 0.00 0.0038" quat="0 0 1 0" fovy="45"/>
            </body>
            <body name="rod" pos="0 0 0" quat="0.707105 -0.707108 0 0" >
                <inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
                <geom type="mesh" mesh="stick"  rgba="1 1 1 1" friction="0.2 0.05 0.01"/>
                <body name="end" pos="0 0.15 0">
                    <inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
                    <geom size="0.005" quat="0 0 1 1" rgba="1 0 0 1" type="sphere" friction="0.3 0.005 0.001"/>
                    <site name="gripper_frame" size="0.001" quat="0 0 1 1"/>
                </body>
            </body>
        </body>
    </worldbody>
    <sensor>
        <force name="wall_force_sensor" site="gripper_frame" cutoff="3.0"/>
    </sensor>
</mujoco>

