<?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="0.022970089766001872 0.028824454072397872 0.003143729312098568" pos="-0.001092260542233936 0.2200731259554573 0.2031437293120986" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.031759003053568935 0.020669969515970478 0.0021417896088526834" pos="0.1865031690773708 -0.09108483435208795 0.2021417896088527" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011361284993338265 0.003909776212283673 0.0043925315548108135" pos="0.25112787071421 -0.2279278907019144 0.20439253155481082" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01738921333330963 0.00959323140624695 0.0006679024972468107" pos="0.23992004580001808 -0.2658736445127867 0.2006679024972468" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.049043797509981335 0.005726092174171825 0.00433100618104857" pos="0.03990366419349761 -0.07924950730927596 0.20433100618104857" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017774776454632737 0.03811084301864773 0.0016414091455210073" pos="0.09439134997028509 0.010395650109648047 0.201641409145521" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.024763316612745456 0.04515694636180892 0.002817760787239272" pos="0.19611696182921695 0.1353441204608936 0.2028177607872393" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.002889305056890919 0.038882392572765545 0.0011626642254460992" pos="0.24188978811094292 -0.2742454856347008 0.2011626642254461" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01732052968924162 0.005886914414502947 0.0024303866737157343" pos="0.19201346152185106 -0.12108758420216154 0.20243038667371574" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008395809968241038 0.01718308474914806 0.004088012695411116" pos="-0.21576962532039187 -0.16358253055349892 0.20408801269541113" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3725255855279999 0.6748414649003499 0.413000101455" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="497.660257589" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.4541075220377403"></joint>
            <site name="object0" pos="0.0024744144720001415 0.010158535099650146 0.006999898544999994" 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="0.00106344823135 0.00106344823135 0.00106344823135" file="mujoco_models/Dodecahedron.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/dotted_0090.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>
    