<?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="0.01992075507848702 0.035911353021905575 0.00294682816640981" pos="-0.02211735619547872 0.26618757587233693 0.20294682816640983" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03737742420747187 0.047278865863740964 0.004032769833917265" pos="-0.20756852498554754 -0.17587784538570017 0.20403276983391727" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004237879360080165 0.020440968533591994 0.002520296160430432" pos="0.29385640590920165 0.24241150014069662 0.20252029616043044" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01141447398779991 0.020528468921640435 0.002621937118659546" pos="0.043650910542012755 -0.1577800907475193 0.20262193711865956" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.015138740592592015 0.0311715550018273 0.0017546277257740885" pos="0.13183268147363902 -0.12098817662194891 0.2017546277257741" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01131063042262475 0.027344844550021362 0.0006194239240968111" pos="0.26082909685250394 -0.16634590224346743 0.20061942392409682" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023619220897429974 0.036067350084747464 0.003061352018513702" pos="-0.12522363908235903 0.2615294156739762 0.20306135201851372" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4059685347955 0.69478654501075 0.41300080381849996" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="40.6058662452" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.665471174125609"></joint>
            <site name="object0" pos="-0.03096853479549999 -0.009786545010749936 0.0069991961815000225" 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="0.00148523414694 0.00148523414694 0.00148523414694" file="mujoco_models/Octahedron.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/meshed_0149.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>
    