<?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="0.03922815095581939 0.009282891881968604 0.002248724417566605" pos="-0.13060725342302135 0.03813490047926338 0.2022487244175666" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.049049168248667084 0.03871362432553537 0.0043825550155812045" pos="0.22765822732217406 0.28661491437645376 0.20438255501558122" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03297729936020873 0.02641225913973646 0.0007516087647271274" pos="0.12771150195107628 -0.035710636584002975 0.20075160876472714" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0132473055492867 0.02600393022075819 0.003219283021735968" pos="0.20364534230395087 -0.07245234778971066 0.20321928302173597" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007266144446401581 0.019234139797728284 0.0025439438729163463" pos="0.24742739903576144 -0.24653709405045068 0.20254394387291635" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.00801826497256753 0.04446253082517306 0.002692422415322544" pos="-0.19542713403047549 -0.05388305742886648 0.20269242241532257" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6774050053506 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="2666.55066666" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.4750795699991737"></joint>
            <site name="object0" pos="0.0 0.007594994649400055 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="0.0053657175118 0.0053657175118 0.0053657175118" file="mujoco_models/nonagonal_pyramid.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/paisley_0087.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>
    