<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
    <option timestep="0.002">
        <flag warmstart="enable"></flag>
    </option>

    <include file="shared.xml"></include>
    
    <worldbody>
        <geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
        <body name="floor0" pos="1.42 0.75 0">
            <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
        </body>

        <include file="robot.xml"></include>
        
        <body pos="1.65 0.75 0.2" name="table0">
            <geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.02581728658612876 0.024306061007924106 0.004737980036886243" pos="-0.23096485000077294 -0.1307656165081409 0.20473798003688626" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022303239713993613 0.04979371562537717 0.0017668832727778783" pos="-0.05025502229584072 -0.11984462348839411 0.2017668832727779" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026304799597517938 0.012263494763003913 0.0030036767613746736" pos="-0.138706816509455 -0.22249477570508908 0.20300367676137468" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017657068962624412 0.01008911338712002 0.0027740724766502564" pos="-0.1437173253576084 -0.24663213115912871 0.20277407247665027" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.031205620757947868 0.026833574326332297 0.004384486178839573" pos="0.23131377159752314 0.19782213469353577 0.2043844861788396" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.043768259434102647 0.026269610029016857 0.0016978786602548023" pos="-0.27818559999354314 0.14890709555038995 0.20169787866025482" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04555312956893947 0.004280961794264364 0.0018885902085598834" pos="0.20091218124415017 -0.2220812118499214 0.2018885902085599" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020467324129725937 0.02662262281672535 0.0010808416261463213" pos="-0.24148182796295078 0.2904066858122564 0.20108084162614634" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.012103062083612729 0.0390228435177672 0.0011780373614665245" pos="-0.10116531591030159 0.1042960087489972 0.20117803736146653" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4507859623215 0.5983956463835 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="624.150615848" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.7810540227046097"></joint>
            <site name="object0" pos="-0.07578596232150003 0.0866043536165001 0.007000000000000062" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
        </body>

        <body name="hook" pos="1.0 0.025 0.025">
            <joint name="hook:joint" type="free" damping="0.01"></joint>
            <geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
            <geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
            <site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
        </body>

        <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>

    <asset>
        <mesh scale="0.000993352692215 0.000993352692215 0.000993352692215" file="mujoco_models/Stepped_Pencil_Holder.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/meshed_0105.png" name="object"/>
        <material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
    </asset>
    
    <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>
        <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
    </actuator>
</mujoco>
    