<?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="0.04722200204995813 0.030653167204560915 0.0031693242503961407" pos="0.06469268965046293 -0.18996569339626324 0.20316932425039616" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.025242363460908045 0.03801949188079059 0.002339877741564462" pos="-0.08229180602804603 -0.2302570596740366 0.20233987774156448" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.014421705826208442 0.03729694581855672 0.00020507109737546915" pos="-0.1663338955433237 -0.13817931612189507 0.20020507109737548" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.021707994760367836 0.04322646256397339 0.004941343091778654" pos="-0.0771960181277796 0.01412130086272706 0.20494134309177867" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007936828808292152 0.04771909962382613 0.0020001883689567965" pos="0.20402780514463753 -0.2190185808122087 0.2020001883689568" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02873029777822465 0.03440556953742709 0.0033866196915816717" pos="-0.01986698523517294 0.1126896626644473 0.20338661969158167" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3473272710795 0.6473272710794999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="731.755477165" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.7048813748885627"></joint>
            <site name="object0" pos="0.0276727289205001 0.03767272892050011 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="0.004357909804425 0.004357909804425 0.004357909804425" file="mujoco_models/Cube_Stand.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/zigzagged_0102.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>
    