<?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="0.004003847499221298 0.01771925458944591 0.0005614383776616032" pos="-0.2912704471334959 0.20699201718414467 0.2005614383776616" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017846195343651103 0.01583262811853504 0.0011191204326336834" pos="-0.12073110653197394 0.28879164269302565 0.2011191204326337" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.037456347335821316 0.025312619548956354 0.0011313019806048026" pos="-0.2888439139039478 0.2729954960923337 0.2011313019806048" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.035721902140921816 0.006799942914916073 0.0009853540148760532" pos="-0.17015940168142715 -0.17690743722400576 0.20098535401487608" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02655451806785231 0.020599805325838747 0.004166170959477138" pos="0.2718775057186658 0.023073148191480763 0.20416617095947714" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007834625210562367 0.015849447487006854 0.0029858434001680642" pos="-0.1365567578665056 0.18144267223025118 0.20298584340016806" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.014884119949979999 0.028972778804982308 0.0015694230733435813" pos="-0.26011604501076335 -0.1513406037505578 0.20156942307334358" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.047994077953637124 0.04405590589619998 0.001734917220844202" pos="0.14432913559593952 0.1997977751200778 0.20173491722084422" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.045142984094899224 0.023012508198331807 0.002723917668815535" pos="-0.08980687797525169 -0.18244651399877182 0.20272391766881553" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02074706253271438 0.028753422361632076 0.0030310244714005035" pos="0.24990456888005647 0.08869779468132682 0.2030310244714005" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01821920613306399 0.03360715171874741 0.0021161319045494985" pos="-0.21062897617968407 0.16507932755622484 0.20211613190454952" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008783436811103482 0.03990144290028141 0.004301905345980292" pos="0.14294836927301807 0.07416044348098044 0.2043019053459803" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4127513500189999 0.6709333116133499 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="12262.0966641" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.5722475226100174"></joint>
            <site name="object0" pos="-0.037751350018999874 0.01406668838665015 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="0.00242859863508 0.00242859863508 0.00242859863508" file="mujoco_models/hubble_model_kit_3.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/scaly_0187.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>
    