<?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="0.039420069273758955 0.021155531774333557 0.0037631241818830725" pos="-0.05489452926142441 -0.24674520874832825 0.20376312418188308" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.027978366988612263 0.02326210759304364 0.0013391114472877282" pos="0.23526800098006145 -0.07028801667839929 0.20133911144728775" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0029171794601817883 0.019724651269926927 0.0021800980587118116" pos="0.21698263391649592 0.17950992486302608 0.20218009805871182" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01079836270948829 0.04211243207198467 0.0013148434184429595" pos="-0.09483951110142419 -0.2539089276135052 0.20131484341844297" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0037124593435838285 0.034362145919745735 0.004624371314156492" pos="-0.0041898874573027545 0.20645622717514983 0.2046243713141565" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03989381123494001 0.03356925744568514 0.004893321762477115" pos="0.18131275252583162 -0.13509336347144313 0.20489332176247713" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03966169806483429 0.034940420667911275 0.002057650188518123" pos="-0.25392151786373096 -0.17138428222914018 0.20205765018851812" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0400646566905244 0.013175779118666412 0.004989504116814406" pos="0.11639288399312675 -0.013666511569435269 0.2049895041168144" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02895139782038443 0.030932763453530375 0.004847829618159855" pos="-0.2029552832210883 -0.13656251840354725 0.20484782961815987" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03576996135059094 0.012753041174034713 0.004369356094790046" pos="-0.09207949460512882 -0.19149636005050852 0.20436935609479007" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0033334172816411054 0.03018415697557955 0.004143882728817303" pos="-0.13572413331072525 0.25052369175529215 0.2041438827288173" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6750000364287999 0.41315249103849994" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="249.018010647" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.432482426207638"></joint>
            <site name="object0" pos="0.0 0.009999963571200143 0.006847508961500048" 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="0.004774798231535 0.004774798231535 0.004774798231535" file="mujoco_models/circ-sq-tri.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/blotchy_0059.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>
    