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        <flag warmstart="enable"></flag>
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    <include file="shared.xml"></include>
    
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            <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
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        <include file="robot.xml"></include>
        
        <body pos="1.65 0.75 0.2" name="table0">
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        <body pos="1.3360028395415 0.6762063718653 0.41340109302399997" name="object0">
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        <body name="hook" pos="1.0 0.025 0.025">
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            <geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
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        </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="0.001591572891895 0.001591572891895 0.001591572891895" file="mujoco_models/adptador_grifo.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/fibrous_0162.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>
    