<?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="0.0075207235190241474 0.03889927890457372 0.002090735234839982" pos="0.2778563341271563 -0.12989173062417939 0.20209073523484" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013890860234532645 0.01734186238808395 0.002904353378197265" pos="0.23692184412058942 -0.19423101591599112 0.2029043533781973" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01470426108236179 0.02950231231424523 0.0023262377865914236" pos="-0.03160626764656482 0.19244055725784392 0.20232623778659142" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0462700368230567 0.024584041337424214 0.0034680237976916412" pos="0.18063522661643633 0.011019846232298347 0.20346802379769166" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.015421504038733033 0.032266145288391904 0.00296703459149969" pos="0.24093769184376618 -0.2685557779380864 0.2029670345914997" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.045596437969539876 0.027187169380102624 0.00017681296864457822" pos="-0.09317869273932713 0.13460013832519185 0.2001768129686446" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.024933221308855818 0.04902779283460863 0.0021707893617721376" pos="-0.10401886222439533 0.19300316065774087 0.20217078936177216" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02784742826854354 0.03443400237406539 0.00404794145638952" pos="0.10285652767537218 -0.046555503138801246 0.20404794145638952" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007115025946820733 0.029432160161993726 0.004497423300973372" pos="-0.048664544088951045 0.24643514090570434 0.20449742330097337" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0256728631693377 0.031421236559681355 0.00418164353267265" pos="0.03875826578443292 -0.2454183964226619 0.20418164353267265" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6749999999999999 0.4671000079284999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="393.039460303" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.1111625576067197"></joint>
            <site name="object0" pos="0.0 0.01000000000000012 -0.04710000792849994" 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="0.002552970976715 0.002552970976715 0.002552970976715" file="mujoco_models/Tree_1_soil.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/veined_0141.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>
    