<?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="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat"></geom>
		<body name="floor0" pos="0.8 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>
		<body name="external_camera_1" pos="3.5 0.75 1.6">
			<camera euler="0 1.1 1.57" fovy="43.3" name="ex_camera_1" pos="0 0 0"></camera>
		</body>

		<include file="robot.xml"></include>

		<body pos="1.3 0.75 0.2" name="table0">
			<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
			<site name="target_center" pos="0 -0.2 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="init_center" pos="0 0.2 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
			<site name="init_1" pos="-1.875 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="init_2" pos="-1.25 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="init_3" pos="-0.625 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="init_4" pos="0 0.45 0.2" size="0.02 0.02 0.02" rgba="0 1 0 0.1" type="sphere"></site>
			<site name="mark1" pos="0.625 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark2" pos="1.25 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark3" pos="1.875 0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
			<site name="mark4" pos="-1.875 -0.45 0.2" size="0.02 0.02 0.02" rgba="0 0 1 0.1" type="sphere"></site>
		</body>

		<body pos="1.3 0.75 0.6" name="space0">
			<site name="spacesite" size="0.25 0.35 0.2" rgba="0 0 1 0.05" type="box"></site>
			<geom name="obstacle" pos="0 0 -0.125" size="0.25 0.04 0.075" type="box" mass="2000" material="table_mat" rgba="0 0 1 1"></geom>
		</body>

		<body name="object0" pos="0.025 0.025 0.025">
			<joint name="object0:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
			<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" 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>
	
	<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>
