<?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="0.04911957908681799 0.043837965502076054 0.0013184125391734588" pos="0.07002955293502089 0.2065187275061317 0.20131841253917346" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.040344621278001085 0.012767455581582925 0.0027160396349463407" pos="0.06078761019093826 -0.20242379970394025 0.20271603963494636" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007605328916938565 0.008072822875058682 0.004993870659699396" pos="0.1270086368599883 0.14982652592359574 0.2049938706596994" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.00892992270461996 0.0011043035583696236 0.0032067175613930423" pos="-0.2853031017827952 0.23140858068178488 0.20320671756139305" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02882810512534731 0.005274746586963451 0.0015422946181201428" pos="-0.25221926590206756 0.13349907469366118 0.20154229461812015" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03424157453624318 0.028683446003540218 0.003233365759082491" pos="0.02087934820053844 -0.2908092292015871 0.2032333657590825" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.1889660554566 0.6257871691629999 0.412999601773" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="697.050531727" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.403477951342032"></joint>
            <site name="object0" pos="0.18603394454340005 0.05921283083700013 0.007000398226999993" 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="0.00293330797218 0.00293330797218 0.00293330797218" file="mujoco_models/ModernSlipper.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/marbled_0142.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>
    