<?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="0.021462684527900733 0.012973496354308032 0.0041433694523076" pos="-0.13288070785065345 0.06276318923734464 0.2041433694523076" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010796088549820906 0.03090513416765808 0.0047387977617309954" pos="0.04462528342233496 0.2756694420519638 0.204738797761731" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0010569857570345972 0.017225504314930362 0.0015363347608377347" pos="0.13330803638626387 -0.2734576137173507 0.20153633476083774" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022052028832775253 0.002833917212536917 0.002362510375060646" pos="-0.011151254726317339 -0.09774815604478457 0.20236251037506064" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.015883256650397016 0.01631705013737423 0.004517216505221992" pos="0.09037846656979248 0.00990870118044146 0.204517216505222" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011362292936337618 0.04134658080431207 0.0040865513082046665" pos="-0.2775366376307837 -0.192568642801413 0.2040865513082047" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04179546386049226 0.01608745126327671 0.004222147280822679" pos="0.18149996684039887 0.0540802257251885 0.2042221472808227" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0018180319256573458 0.007782605958210214 0.0032257825004313716" pos="-0.0741609278867322 -0.2953492538019113 0.20322578250043138" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04092930572001878 0.032769867171671116 0.0037138619009254616" pos="0.0026795067437931364 -0.10445290795531695 0.20371386190092547" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004763815892214262 0.005740778256083591 0.002944240112620114" pos="-0.12404045017326806 -0.1730954572717349 0.20294424011262013" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022998590538558628 0.03449571354781045 0.00016621529673242007" pos="-0.2825184070508258 -0.03963194110673296 0.20016621529673242" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.049327079535012384 0.03551989126140174 0.004735376054127585" pos="-0.25155298348567945 0.16813583310554098 0.2047353760541276" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.35328046631 0.6532804663099999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="2056.56114566" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.041065676441604"></joint>
            <site name="object0" pos="0.021719533690000015 0.031719533690000135 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="0.003420398800825 0.003420398800825 0.003420398800825" file="mujoco_models/Cube_Stand.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/knitted_0153.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>
    