<?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="0.007192455570923411 0.029335469594690352 0.003516916476667981" pos="-0.1320150535266276 -0.108497119096259 0.203516916476668" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.04865997284405904 0.027024171171065123 0.0018376991026299778" pos="0.05657370573590664 -0.005821999084323792 0.20183769910263" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.0013615394151413808 0.04027158594649647 0.003538214301467203" pos="-0.19993943931572294 0.17785317487496477 0.2035382143014672" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03819475909512025 0.03762886263272803 0.002772560315366544" pos="-0.1819787764256503 0.006067902815186654 0.20277256031536656" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.027132802831625977 0.026858333256304073 0.0039678694815748535" pos="0.21041234474352905 -0.06707793342940696 0.20396786948157486" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3750026860054998 0.6749999999999999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="216.460580347" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.347346476880503"></joint>
            <site name="object0" pos="-2.6860054997968064e-06 0.01000000000000012 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="0.00707214270655 0.00707214270655 0.00707214270655" file="mujoco_models/Thumb_Screw.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/polka-dotted_0176.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>
    