<?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="0.008459720600813885 0.043168875330076815 0.0045341279891776" pos="0.13530421861309827 0.07087792312433072 0.2045341279891776" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004943458437046363 0.0136740400119428 0.0011811813078703582" pos="-0.20979358940545986 -0.288273827285931 0.20118118130787038" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.025980522025856455 0.04836722981503513 0.004161370568808969" pos="0.18441030070679293 0.13403753733539314 0.20416137056880898" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.021935269857487026 0.00614108392189957 0.0013884217830901259" pos="0.09592353257811598 0.10351023161929074 0.20138842178309013" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04668461868314847 0.01684712201485654 0.0026209737281347257" pos="-0.07122870256233677 -0.13279526479519901 0.20262097372813473" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029572456639540945 0.03175382617925254 0.003845498330083482" pos="-0.20535810222744585 -0.17601014366768108 0.2038454983300835" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3269687254059999 0.7634160223584999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="607.587456324" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.9548857604019214"></joint>
            <site name="object0" pos="0.04803127459400014 -0.07841602235849987 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="0.002508291512495 0.002508291512495 0.002508291512495" file="mujoco_models/hubble_model_kit_6.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/grooved_0053.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>
    