<?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="0.03918005648012028 0.03600825942188076 0.003895733606820047" pos="-0.19597383360539286 0.050107182853744214 0.20389573360682006" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029398502416102472 0.03374433566942656 0.003667748357058018" pos="-0.24601449686059418 -0.2535797294571233 0.20366774835705803" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.014905187839751758 0.018594389885432584 0.0004649736783112692" pos="-0.08883575794038676 0.2055875220901235 0.2004649736783113" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008123198254259592 0.04742699052423753 0.0016684579903416357" pos="0.02191528621084199 -0.22906292195196293 0.20166845799034164" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0021558570435772136 0.03843849621112298 0.004587666908773453" pos="-0.06520755177498835 -0.2787460438946711 0.20458766690877347" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02977908178662573 0.04143398650823096 0.0018131371207397674" pos="0.017036039916717483 -0.08872513567386758 0.20181313712073978" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04482864643572069 0.030743473037461062 0.001014657180958022" pos="-0.01191032868210895 0.22999274364696415 0.20101465718095804" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03515699221669126 0.03768399663967891 0.000517794446813427" pos="0.2828994665846671 0.1387058386557592 0.20051779444681345" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.043072557500536214 0.03818198326777882 0.0036557896114461667" pos="0.047536833537480616 -0.1652475209041928 0.20365578961144618" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005321339105957587 0.032985839460414376 0.0011362854439962242" pos="-0.11584971662437252 -0.047975061876013414 0.20113628544399623" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013175534237448806 0.039038444448209066 0.0005459329201241888" pos="0.04926015435343045 -0.09736922254077945 0.2005459329201242" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.6902477723549998 0.359752227645 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="7294.24842656" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.617432743267712"></joint>
            <site name="object0" pos="-0.3152477723549998 0.3252477723550001 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="0.00315247772355 0.00315247772355 0.00315247772355" file="mujoco_models/Filtre_filament.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/grid_0048.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>
    