<?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="0.0017381975732401983 0.032356055141745915 0.0035764513849203287" pos="-0.20776246391083047 -0.04757505746343593 0.20357645138492034" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03940856399133122 0.016992625823919676 0.0003339194133561204" pos="-0.2295791582375209 -0.13624955083015886 0.20033391941335613" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04261715890010578 0.0021228805009776 0.0010463031983970466" pos="-0.05894233172757232 -0.12603659269712833 0.20104630319839706" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02396139034727317 0.04998640236417163 0.0026825347898855123" pos="-0.16178911661699716 0.2544649204096568 0.20268253478988552" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01639252095432799 0.03677756558326256 0.0033842306461293135" pos="0.056117595963434685 0.11002901241443214 0.20338423064612932" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0013515276423686907 0.02671967154789225 0.0011021572633135562" pos="-0.11793922706071208 -0.22191843409555562 0.20110215726331357" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010885006455470969 0.016649377119465566 0.0009942015018773623" pos="0.06312533583972957 -0.2308773689584793 0.20099420150187738" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.027138380146862564 0.02491710737848269 0.003216173218894767" pos="-0.10549248563514241 0.18557918591309092 0.2032161732188948" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.002839122921736043 0.04571507572148211 0.004475803325086118" pos="-0.047333322258994226 -0.037057140796472154 0.20447580332508614" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011376426112539442 0.03469713241464022 0.004218865724534126" pos="-0.18460842725820886 0.2826994594237862 0.20421886572453413" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.002324210820543078 0.015934388591931855 0.0034424044491524275" pos="0.2686511583684175 -0.10065871972069626 0.20344240444915243" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04636789179058513 0.0421237662441819 0.00459004475313757" pos="-0.17649801624423195 0.1514107784453922 0.20459004475313758" 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="629.978896907" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.2714907646239895"></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="0.004426792453365 0.004426792453365 0.004426792453365" file="mujoco_models/hexagonal_prism.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/chequered_0107.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>
    