<?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="0.04036383872107729 0.02589830479115228 0.003600726586922588" pos="0.07779523685273992 -0.07034886978675986 0.2036007265869226" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0033218100012765536 0.020601167719694263 0.0023076735282364356" pos="-0.17666701503674487 -0.06518116816968286 0.20230767352823645" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013771264973917528 0.03564233951016015 0.0028155215502995634" pos="-0.032147360545252024 -0.09848200797761392 0.20281552155029958" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013585419535255959 0.02378109889268866 0.003772180824348262" pos="0.233438800389194 -0.2866280103867634 0.20377218082434828" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.019516875955989225 0.015708394013898935 0.004997615952551457" pos="-0.2451653128041581 -0.2421632112224817 0.20499761595255148" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04509211172172054 0.04310845751902788 0.004993661079807288" pos="0.2337151996942481 0.21759481997994018 0.2049936610798073" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04781443534337812 0.038265734831196115 0.0005363128135551613" pos="-0.09851374142266928 0.04500653519010034 0.20053631281355516" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3749999958144998 0.6750079063221499 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="844.611714101" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.307803866862003"></joint>
            <site name="object0" pos="4.185500168674139e-09 0.009992093677850145 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="0.00109719158734 0.00109719158734 0.00109719158734" file="mujoco_models/mug.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/striped_0002.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>
    