<?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="0.04722423624702101 0.030221806501018786 0.00012628005309925472" pos="-0.22857203239423685 0.17443375995556087 0.20012628005309926" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.014054798832109867 0.015577468384916724 0.0006314571252977179" pos="-0.032703115681032124 0.2497070475418977 0.20063145712529773" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005553105793592239 0.01079954897936496 0.0023129603535519388" pos="-0.05640201374351034 0.10856117186441805 0.20231296035355195" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010738294540610517 0.020499976962880192 0.004099434779921343" pos="0.06948311275371377 -0.018821513374207344 0.20409943477992135" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028818490511980127 0.0270896171779215 0.002853937710618914" pos="-0.287476684328453 0.2865901911551573 0.20285393771061894" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004059770851734378 0.01699706177300679 0.004839823014559999" pos="0.03347972286580658 -0.024246620552186404 0.20483982301456" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.310576563547 0.6683597373497999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="6622.61864075" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.6941802060545665"></joint>
            <site name="object0" pos="0.06442343645300008 0.016640262650200133 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="0.00385054332261 0.00385054332261 0.00385054332261" file="mujoco_models/hubble_model_kit_2.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/matted_0057.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>
    