<?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="0.8 0.75 0" size="1.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
		<!--body name="floor0" pos="0.8 0.75 0">
			<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 0 1 1" type="sphere"></site>
		</body-->

		<include file="robot.xml"></include>
		
		<body pos="1.3 0.75 0.1" name="table0">
			<geom size="0.25 0.35 0.1" type="box" mass="2000" material="table_mat"></geom>
			<body pos="0.17 0. 0.11" name="red_tray">
				<geom size="0.08 0.005" type="cylinder" mass="2000" material="red_mat" friction="1 1 1"></geom>
				<!-- <site name="red_tray" pos="0 0 0" size="0.01 0.01 0.01" rgba="1 0 0 1" type="plane"></site> -->
			</body>
		</body>
	
		
		<body name="object0" pos="0.025 0.025 0.025">
			<joint name="object0:joint" type="free" damping="1.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="object0_mat" mass="2"></geom>
			<site name="object0" pos="0 0 0" size="0.025 0.025 0.02" rgba="0 0 0 1" type="sphere"></site>
		</body> 

		<body name="object1" pos="0.025 0.025 0.025">
			<joint name="object1:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object1" material="green_mat" mass="2"></geom>
			<site name="object1" pos="0 0 0" size="0.025 0.025 0.02" rgba="0 1 0 1" type="sphere"></site>
		</body> 

		<body name="object2" pos="0.025 0.025 0.025">
			<joint name="object2:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="object2" material="blue_mat" mass="2"></geom>
			<site name="object2" pos="0 0 0" size="0.025 0.025 0.02" rgba="0 0 1 1" type="sphere"></site>
		</body> 


		<!-- <body name="put_box" pos="0.025 0.025 0.025">
			<joint name="put_box:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="put_box" material="red_mat" mass="2"></geom>
			<site name="put_box" pos="0 0 0" size="0.025 0.025 0.02" 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>

	<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>
