<?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="0.04546655467606643 0.02378029523707548 0.00018807477032805898" pos="0.28348207922212726 -0.1082500227963005 0.20018807477032807" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.03964775114183126 0.007662805135777808 0.0038748788516542823" pos="0.11039317007843708 0.23561626834273147 0.20387487885165428" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005836533473462212 0.03144102442844172 0.004409592528141995" pos="0.28712460746598006 -0.25108545648777314 0.204409592528142" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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        </body>
        
        <body pos="1.375 0.6749999999999999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="3205.29781447" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.8638099809491266"></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="0.001520416627995 0.001520416627995 0.001520416627995" file="mujoco_models/King.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/bumpy_0135.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>
    