<?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="0.014092048296584316 0.010006393790302055 0.002904815999437297" pos="-0.03196880642790151 -0.1838615343783397 0.2029048159994373" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.03365020787189194 0.0016922207969761762 0.0027102013516475177" pos="0.23120133113457625 -0.049617299909396284 0.20271020135164752" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.021217580543410254 0.023212202475717533 0.004290000057271747" pos="0.0660006517012976 0.1484105418080665 0.20429000005727177" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03618935771390079 0.0034921277077458843 0.004885828167294304" pos="0.12372490343752629 0.04807514770722954 0.2048858281672943" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0032136524175325003 0.04598597832659376 0.00240082840013968" pos="0.24671542885019143 -0.04895583985558666 0.2024008284001397" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.314090378615 0.5651480722155 0.41300372227999993" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1522.13282859" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.4231012504120324"></joint>
            <site name="object0" pos="0.060909621385 0.11985192778450005 0.006996277720000055" 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="0.00372227988352 0.00372227988352 0.00372227988352" file="mujoco_models/hubble_model_kit_1.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/freckled_0060.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>
    