<?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="0.047653379778472706 0.04400330049186385 0.0031569527128286596" pos="-0.28978209473242916 -0.07321411561027405 0.20315695271282866" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0489610303493653 0.0343851875782715 0.0008888405204357537" pos="-0.02364195080729964 0.2800426463060916 0.20088884052043576" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.027200700546413076 0.002206111873461403 0.003136883212952291" pos="-0.1372700814413041 -0.24069242887385736 0.2031368832129523" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02074251379186276 0.02836763177418 0.00018349951843423331" pos="0.03542808518156848 0.006721888103782436 0.20018349951843425" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.039901510771839246 0.021753941023954462 0.002811907105382442" pos="0.14520558243427578 0.23828752306916728 0.20281190710538247" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01962169422516069 0.030480041293374182 0.0035035934267402704" pos="-0.27403759413468226 0.18045630509168087 0.2035035934267403" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3800160704525 0.69571044021314 0.41300000036999995" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="2489.46783496" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.1990929357522755"></joint>
            <site name="object0" pos="-0.0050160704524999655 -0.010710440213139938 0.006999999630000031" 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="0.001035522010655 0.001035522010655 0.001035522010655" file="mujoco_models/Love_Box_1.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/potholed_0096.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>
    