<?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="0.007450331031662252 0.03820554559254479 0.0023220945491780843" pos="-0.09759595453643163 -0.03212472341289829 0.2023220945491781" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0074841821465981805 0.04344570982522372 0.0008715046299498732" pos="0.19764347168189855 -0.07432529123692402 0.20087150462994988" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.014316516018987833 0.04001546468647289 0.003949408974855357" pos="0.028903475985347593 0.20648059030912075 0.20394940897485536" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011453163548066227 0.017365776710980912 0.004570776053020586" pos="-0.02450449830182061 0.00016991264625859648 0.2045707760530206" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0487800914977017 0.008292810606986369 0.0029955673095309284" pos="0.2528609014812267 -0.2716750728095368 0.20299556730953094" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04975406440127874 0.0019553187358161035 0.0032420432955363324" pos="-0.09131850643561423 -0.07095819371061332 0.20324204329553636" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4281125982065 0.8019791521195 0.41300349275649995" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="125.826026542" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.9489034621368866"></joint>
            <site name="object0" pos="-0.05311259820649994 -0.11697915211949994 0.006996507243500039" 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="0.00349275625687 0.00349275625687 0.00349275625687" file="mujoco_models/hubble_model_kit_7.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/lined_0046.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>
    