<?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="0.008601574614145529 0.03203914857866691 0.0038102051260587412" pos="-0.26716438659857883 -0.018292454627313715 0.20381020512605874" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.039426146018001915 0.02682222510616785 0.0021524654316513944" pos="-0.1938343502163301 -0.23181634204632523 0.2021524654316514" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017319277323429878 0.014962496436103208 0.0019018672322287547" pos="-0.25429033463637646 -0.16438847499987316 0.20190186723222878" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026250517468489283 0.049589041298614724 0.002137238758169241" pos="-0.052144768600157654 -0.12952675540509598 0.20213723875816925" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028328327429786956 0.043133624503159336 0.003379989895399147" pos="0.29921021086736815 0.26716584983406827 0.20337998989539915" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.042324575578222785 0.0030458726881180875 0.003798366269018359" pos="0.06953015158602505 0.14748878701373025 0.20379836626901837" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04889525611076026 0.011803262626039458 0.001870766555845082" pos="0.031553535609268935 -0.09834796681629623 0.2018707665558451" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6749999999999999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1414.53690983" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.48113359946695"></joint>
            <site name="object0" pos="0.0 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="0.00141486130884 0.00141486130884 0.00141486130884" file="mujoco_models/candle_holder.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/crosshatched_0048.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>
    