<?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="0.04136405250230028 0.010957701902153779 0.0016359793426787192" pos="0.12857609601960385 -0.26035404457642947 0.20163597934267874" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0389292331965801 0.0035918584556965147 0.004160089775755604" pos="0.001156290086173739 0.2508208286956714 0.20416008977575562" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028360189085465427 0.01170395254238285 0.0012531196713213015" pos="-0.01915277805814114 0.295231719797923 0.2012531196713213" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01884385476516596 0.04078259152843114 0.002919129628922401" pos="0.26307989945091687 0.15027161162697245 0.20291912962892242" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0018865952317954245 0.005773483513792445 0.0009306021633600701" pos="-0.006907723751211903 0.19315081243858684 0.2009306021633601" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04341254149521665 0.026706111040672824 0.0031075420712786636" pos="-0.16235083762716046 -0.25206578318402895 0.20310754207127868" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4134252812619998 0.6017899038029999 0.4130024141034999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="3761.66091854" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.3102340105504915"></joint>
            <site name="object0" pos="-0.038425281261999844 0.08321009619700015 0.006997585896500069" 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="0.002414103267215 0.002414103267215 0.002414103267215" file="mujoco_models/hubble_model_kit_5.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/stained_0084.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>
    