<?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="0.048948696804928755 0.006631595177816599 0.0032033092618883093" pos="0.23736317012747304 -0.15057080001840187 0.20320330926188832" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0107632996814832 0.039408085748411426 0.000923014377069605" pos="0.22188534492326456 0.0860758257974375 0.2009230143770696" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04363939929922557 0.04905628856078978 0.0033760583035855637" pos="0.23543714518489517 0.11321635056722062 0.20337605830358557" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.003499598745971167 0.004060696005314263 0.0010512172614271938" pos="0.05244371570404499 -0.014734396156016794 0.20105121726142722" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03344228407674736 0.01613527824021798 0.00029374294714629444" pos="-0.06416670453935908 -0.15337400487673253 0.2002937429471463" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01812272745149517 0.04747770724986249 0.0046981295067022085" pos="-0.1145649246827834 -0.12799340181073665 0.20469812950670221" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009937449869419902 0.04657741054196368 0.0012361442405200002" pos="-0.04804987391970711 0.1178002185149562 0.20123614424052" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.037237250802694966 0.04964146372235482 0.0007676379809314072" pos="-0.059243168915737554 0.03948785710751379 0.20076763798093142" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04078796996452524 0.017951196594476474 0.004527653179121551" pos="0.27050124587371444 0.2870654549813794 0.20452765317912155" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3754481571969999 0.6838078895113 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1076.70424782" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.727740091925024"></joint>
            <site name="object0" pos="-0.00044815719699986545 0.0011921104887000489 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="0.000597145051615 0.000597145051615 0.000597145051615" file="mujoco_models/brilliant_turing4.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/stained_0057.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>
    