<?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="0.03066155275024823 0.02778014578141218 0.0017100833182038735" pos="-0.2734954561750991 -0.10558316993266292 0.2017100833182039" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020516862858967748 0.03806476536376932 0.0037136715485177737" pos="-0.16715514207838048 -0.1633956288034508 0.20371367154851777" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.0025534573615925834 0.03831811322616002 0.004051866794085978" pos="0.25228835964673485 -0.24725065992957274 0.204051866794086" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04540443485500234 0.046002835928332104 0.0049887593629177026" pos="0.1667331408265818 -0.14241729861536837 0.20498875936291772" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01396338461622798 0.03472262700774073 0.003430690042144637" pos="0.09619752035728257 -0.08812747905570276 0.20343069004214465" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026470066635742414 0.015773376477556163 0.003024274505539962" pos="0.16344130635162624 0.11921776784078675 0.20302427450553998" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02219276108595546 0.026711691651758757 0.0038848506336308566" pos="-0.16028825450798315 -0.16722084059907139 0.20388485063363088" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4490465862375 0.6283535904394999 0.44972945634699996" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="127.96018626" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.299508659150863"></joint>
            <site name="object0" pos="-0.07404658623749993 0.056646409560500155 -0.029729456346999972" 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="0.00073458912694 0.00073458912694 0.00073458912694" file="mujoco_models/Body1.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/gauzy_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>
    