<?xml version="1.0" encoding="utf-8"?>
<!--This file is modified based on the OpenAI Gym source code-->

<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>

	<size njmax="8000" nconmax="4000"></size>

	<worldbody>
		<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
		<body name="floor0" pos="0.8 0.75 0">
			<site name="target_gripper" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0.5 0.5 0.5 0.5" type="sphere"></site>
			<site name="target_r" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 0.5" type="sphere"></site>
			<site name="target_b" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 0 1 0.5" type="sphere"></site>
			<site name="target_g" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="0 1 0 0.5" type="sphere"></site>
		</body>

		<include file="robot.xml"></include>

		<body pos="1.3 0.75 0.2" name="table0">
			<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat" rgba="1 1 1 1"></geom>
		</body>

		<body name="container" pos="1.3 0.5 0.405">
			<geom conaffinity="0" size="0.06 0.025 0.01" pos="0 0 0" type="box" condim="3" name="container" material="block_mat" mass="50000" rgba="0.8 0.6 0.4 1"></geom>
			<joint name="container:joint" type="free" damping="0.01"></joint>
			<site name="container_center" pos="0 0 0.035" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
			<site name="container_front" pos="0.03 0 0.035" size="0.02 0.02 0.02" rgba="0 1 0 0" type="sphere"></site>
			<site name="container_tail" pos="-0.035 0 0.035" size="0.02 0.02 0.02" rgba="0 0 1 0" type="sphere"></site>
		</body>

		<body name="block_r" pos="1.3 0.5 0.475">
			<joint name="block_r:joint" type="free" damping="0.01"></joint>
			<geom size="0.06 0.025 0.025" type="box" condim="3" name="block_r" material="block_mat" mass="50" rgba="1 0 0 1"></geom>
			<site name="block_r" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
		</body>

		<body name="block_b" pos="1.265 0.5 0.425">
			<joint name="block_b:joint" type="free" damping="0.01"></joint>
			<geom size="0.025 0.025 0.025" type="box" condim="3" name="block_b" material="block_mat" mass="50" rgba="0 0 1 1"></geom>
			<site name="block_b" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
		</body>

		<body name="block_g" pos="1.33 0.5 0.425">
			<joint name="block_g:joint" type="free" damping="0.01"></joint>
			<geom size="0.03 0.025 0.025" type="box" condim="3" name="block_g" material="block_mat" mass="50" rgba="0 1 0 1"></geom>
			<site name="block_g" pos="0 0 0" size="0.02 0.02 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>
