<?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="0.012547974566541779 0.0064812839069222986 0.0014514277596805465" pos="-0.11121821718525762 0.237679767164027 0.20145142775968056" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.002667671814228046 0.039259228345238574 0.0009426794377024675" pos="0.14935292383840298 0.143796933532721 0.20094267943770247" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011832382178059743 0.0464448217623094 0.004001907992505597" pos="-0.21777156513930895 -0.2808862416519435 0.20400190799250562" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0037908617555281144 0.019354931615753884 0.0016034583435176391" pos="-0.15917665344142512 -0.1609715437198279 0.20160345834351764" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023294870929726104 0.03969030738706699 0.0013574287069137451" pos="0.26464699317910706 -0.09024565561576536 0.20135742870691375" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.372665288053 0.6652007185929 0.43422695335449996" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="5175.13900346" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.8780162309952189"></joint>
            <site name="object0" pos="0.0023347119470000788 0.019799281407100078 -0.014226953354499972" 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="0.000704066676665 0.000704066676665 0.000704066676665" file="mujoco_models/grendae.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/smeared_0103.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>
    