<?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="0.02428391477993285 0.0186464089037205 0.000267110530904152" pos="-0.09017412142854356 0.285804490675781 0.20026711053090415" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013722818903822435 0.03647613576980431 0.0008552852432315538" pos="-0.19840770930008955 -0.1221054179036869 0.20085528524323157" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.001716121305262201 0.024698622843932146 0.004852144968282203" pos="-0.1310814531330507 0.10189653723845632 0.20485214496828222" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.042369774606156776 0.047033344877708556 0.0002240990278023589" pos="0.20707105476660953 -0.2511602482377624 0.20022409902780236" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016355946898746185 0.037389953408048335 0.0019043739745348413" pos="-0.2660906249440918 0.14594700682496614 0.20190437397453484" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028281537708493794 0.023797751819576465 0.00212642875661328" pos="0.0768934025289485 0.2502297727550939 0.2021264287566133" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.021602523876578683 0.01999308995303714 0.0018702074648773558" pos="-0.1804855711196904 0.19965791868771665 0.20187020746487735" 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="3321.55602151" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.247612445394807"></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="0.003482213982435 0.003482213982435 0.003482213982435" file="mujoco_models/strainer.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/crosshatched_0147.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>
    