<?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="0.005288135763566372 0.04408740636121585 0.003642799349433365" pos="0.18108337061764462 0.16143980031271854 0.20364279934943338" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0410509075406166 0.00643849362777584 0.001757562615922117" pos="0.18850226975478812 0.140565667203426 0.20175756261592212" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.038571061541288906 0.03822092524036358 0.000427908170204759" pos="0.19564414414995068 -0.2484524106310829 0.20042790817020478" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04129786164747464 0.016537326034396865 0.0011394081571030603" pos="-0.18245644172683684 -0.25366418735115365 0.20113940815710307" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0254148873584138 0.03944551909561147 0.003287161760048972" pos="0.2952260844249405 0.1626160509997271 0.203287161760049" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03668617793957659 0.021154737786985327 0.0006919648625903497" pos="-0.07214501607028892 0.21578997762377422 0.20069196486259036" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017456488413376412 0.007003303712076704 0.0027036395384023412" pos="0.06446853474150016 -0.22901187031755643 0.20270363953840234" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.038549218713177506 0.025887242314648132 0.0029769745892160256" pos="-0.2769583673273618 -0.17052591094650765 0.20297697458921604" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022582973736551264 0.0061003428007078255 0.0036764055219860488" pos="-0.16993314754876382 -0.08323213334533974 0.20367640552198607" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3768126086835 0.72932211353615 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="2480.45491545" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.7225934879398765"></joint>
            <site name="object0" pos="-0.0018126086834999722 -0.0443221135361499 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="0.0008639699966 0.0008639699966 0.0008639699966" file="mujoco_models/Incense_Holder_final.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/crystalline_0215.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>
    