<?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="0.018584354554741958 0.011661002738670639 0.0014917882399287995" pos="-0.18858601101793981 0.17479416007499915 0.2014917882399288" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04510559434916586 0.04206718951345296 0.0013579149081459011" pos="0.18624561267405487 -0.2120967841251191 0.20135791490814592" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04858154091544653 0.03954546192584438 0.000743521010211611" pos="-0.117815722189479 -0.2232641500755994 0.20074352101021162" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02137843452747352 0.03706459117389024 0.002557372641933843" pos="0.1169943002563989 0.10233366937262534 0.20255737264193385" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028865335394521855 0.021241373808537255 0.0009406428859036657" pos="0.1978140158245958 -0.2883560653867427 0.2009406428859037" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016005328514836676 0.001640961096821813 0.0017007291872173967" pos="-0.19391294646675522 0.02997954846830264 0.2017007291872174" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022315948936478754 0.03931730202989988 0.0007180578081487283" pos="-0.0031836863941595572 0.22891499823282363 0.20071805780814875" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.043354658641602976 0.02339077503593944 0.004459064675600058" pos="0.2953020032898727 -0.24928311854293253 0.20445906467560007" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007810156039750091 0.031188537452321616 0.0035049508137190255" pos="-0.1263326115225299 -0.1099920819189088 0.20350495081371903" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02668923934495936 0.012524366169019151 0.004923243933190405" pos="-0.13004717923599454 0.19690889568511044 0.20492324393319042" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009386984522219383 0.046187990093527045 0.0026163816225940485" pos="0.24999901920403395 -0.03341578188576155 0.20261638162259407" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029506203004598924 0.034795744131200776 0.004297708980181104" pos="0.2693609934125866 -0.1438556551687046 0.20429770898018113" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6749999999999999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="2490.37120278" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.3442915170058235"></joint>
            <site name="object0" pos="0.0 0.01000000000000012 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="0.0035426209327 0.0035426209327 0.0035426209327" file="mujoco_models/hexagonal_prism.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/matted_0067.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>
    