<?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="0.03764143876594502 0.028870068996641535 0.003485283227012118" pos="0.15211502089583867 -0.0038960689344982313 0.20348528322701212" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01847019172698864 0.03874841842882242 0.0019626366504636667" pos="0.07331536169424968 0.23604361590939266 0.20196263665046368" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008761182132968058 0.001436401834705919 0.0013581073948736254" pos="0.17848316606795328 0.04009538549409647 0.20135810739487364" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04736188231323617 0.02784583089322229 0.0014023287746843824" pos="0.15953118281960155 0.0945302315490062 0.2014023287746844" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.041213484638117734 0.03373192532509846 0.002314550150810625" pos="-0.13375039854377377 -0.26663972113844464 0.20231455015081062" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6759977472687999 0.3533921875239999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="747.970275529" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.8889860925022655"></joint>
            <site name="object0" pos="0.0 0.009002252731200144 0.06660781247600006" 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="0.00133032969171 0.00133032969171 0.00133032969171" file="mujoco_models/SEG-JellyFish.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/bubbly_0144.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>
    