<?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 0.7 1" type="plane" condim="3" material="floor_mat"></geom>

		<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>
		</body>

		<body name="hole" pos="0.0 0.0 0.0">
			<joint name="hole:joint" type="free" damping="0.01"></joint>
			<!-- <geom pos="-0.03325 0 0" size="0.0105 0.04375 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" rgba="0 0 1 1" group="1" condim="4" mass="2000"/>
			<geom pos="0.0 0.03325 0" size="0.03125 0.0105 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" rgba="0 0 1 1" group="1" condim="4" mass="2000"/>
			<geom pos="0.0 -0.03325 0" size="0.03125 0.0105 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" rgba="0 0 1 1" group="1" condim="4" mass="2000"/>
			<geom pos="0.03325 0 0" size="0.0105 0.04375 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" rgba="0 0 1 1" group="1" condim="4" mass="2000"/> -->
			<geom pos="-0.03 0 0" size="0.01 0.04 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.2" rgba="0 0 1 1" group="1" condim="4" mass="20000"/>
			<geom pos="0.0 0.03 0" size="0.02 0.01 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" rgba="0 0 1 1" group="1" condim="4" mass="20000"/>
			<geom pos="0.0 -0.03 0" size="0.02 0.01 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" rgba="0 0 1 1" group="1" condim="4" mass="20000"/>
			<geom pos="0.03 0 0" size="0.01 0.04 0.05" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" density="100" friction="0.95 0.3 0.1" rgba="0 0 1 1" group="1" condim="4" mass="20000"/>
			<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.05" name="bottom_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0 0 0.01" name="top_site"/>
			<site rgba="0 0 0 0" size="0.005" pos="0.11 0.06 0" name="horizontal_radius_site"/>
			<site name="hole" pos="0 0 0" size="0.025" rgba="1 0 0 0.5" type="sphere"></site>
		</body>

		<!-- <body name="peg" pos="0.0 0.0 0.0">
			<joint name="peg:joint" type="free" damping="0.01"></joint>
			<geom pos="0.0 0.0 0.0" size="0.015 0.015 0.1" type="box" condim="3" name="peg" mass="2" friction="0.95 0.3 0.1"></geom>
			<geom pos="0.020 0.0 0.0" size="0.005 0.03 0.1" type="box" condim="3" name="pegbar1" mass="2" friction="0.95 0.3 0.1"></geom>
			<geom pos="-0.020 0.0 0.0" size="0.005 0.03 0.1" type="box" condim="3" name="pegbar2" mass="2" friction="0.95 0.3 0.1"></geom>
			<site name="peg" pos="0 0 0" size="0.025" rgba="1 0 0 0.5" 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>
