<?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="0.010877824570046542 0.0361486204181734 0.0045011256939563584" pos="-0.2744346353349328 -0.13871865956897647 0.20450112569395637" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03802403580879649 0.023084355691324703 0.0005092385673521392" pos="-0.06378437589949493 0.019823155173934515 0.20050923856735214" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028308025194955434 0.019377194034530892 0.0020632796614169792" pos="0.15497945988351636 -0.251618388960919 0.202063279661417" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04798906169320898 0.047490507257238836 0.0009365087417408992" pos="0.03420599929525847 0.0023401832729370575 0.2009365087417409" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008942322774603276 0.01315473625741953 0.002116246684669367" pos="0.04676551986310573 0.10489481307811133 0.20211624668466938" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.035571128306696995 0.003657929644466158 0.001334509611677723" pos="-0.11532249043010795 0.06340950889351987 0.20133450961167773" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.272917087639 0.572917095427 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="5461.9043382" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.9741258374292678"></joint>
            <site name="object0" pos="0.10208291236100009 0.11208290457300008 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="0.00102082912361 0.00102082912361 0.00102082912361" file="mujoco_models/nidoran_01.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/pleated_0074.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>
    