<?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="0.0018042661164589418 0.0012384836510325034 0.0033065148928253705" pos="0.11511229821356794 -0.25519581780583894 0.2033065148928254" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028951249836047015 0.042267705252127794 0.0022647004806322633" pos="-0.10812346966712821 0.21260955813124321 0.20226470048063228" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04464244463423036 0.009938945493984077 0.004219650549066083" pos="-0.14009586819449762 -0.07645063274495567 0.2042196505490661" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007186839084052823 0.034290006356604626 0.0013045587913490199" pos="-0.11058242270225649 0.07128421758305375 0.20130455879134904" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0063715414425946255 0.013297311506717802 0.0016784289642946468" pos="-0.07916141758056047 -0.0874352808307374 0.20167842896429466" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03465545138677452 0.03368880808589528 0.00037856152069423005" pos="0.14179814695134513 0.09237709047766085 0.20037856152069425" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009177504222056352 0.023822345663238945 0.0016040908086153733" pos="-0.04470755687165562 -0.23344574747006594 0.20160409080861538" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026846333279201797 0.017981923825648026 0.0008911777890505943" pos="0.192769191510078 -0.17084151251291027 0.2008911777890506" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.403698895887 0.6695743147779 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="150.452026173" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.9438666816775354"></joint>
            <site name="object0" pos="-0.02869889588700003 0.015425685222100083 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="0.0019037432126 0.0019037432126 0.0019037432126" file="mujoco_models/Furnace_block_MC.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/gauzy_0109.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>
    