<?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="0.02402088240650931 0.029473890322151114 0.0010124386040768411" pos="-0.09383599803380754 0.17441453992290296 0.20101243860407686" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04687560453977169 0.03203038538568749 0.001172486590256062" pos="0.23209120010244239 0.05094754754934505 0.20117248659025608" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03459810831497416 0.011179798706121687 0.00020467897326351288" pos="-0.08129376643259859 -0.19517639908990037 0.20020467897326352" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02342196381984906 0.030910986981152192 0.0015768294241863762" pos="-0.17275842934460267 -0.22649703508074737 0.2015768294241864" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.034006158890699655 0.021390528502602254 0.0032976626933979717" pos="0.29914512124966514 -0.08981231052710362 0.203297662693398" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029304372525001753 0.03412375921387611 0.002032968475927448" pos="0.003709589931201296 0.09661183766148879 0.20203296847592747" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009587643885115835 0.01995472739837525 0.004164710157766674" pos="-0.21046424247383583 -0.15318015498409845 0.2041647101577667" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013069344102336473 0.02593157914021279 0.00433747999715909" pos="-0.025209678528284762 -0.062270746112006725 0.2043374799971591" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.043782698871057 0.04052727095024335 0.0023923368997810415" pos="0.25086474517621965 0.06054826244701078 0.20239233689978106" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375312277802 0.6751655428757499 0.413072218013" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="7006.92713932" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.6037979488774283"></joint>
            <site name="object0" pos="-0.0003122778019999384 0.009834457124250129 0.0069277819870000035" 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="0.000880584233675 0.000880584233675 0.000880584233675" file="mujoco_models/LowPolySchildkroete.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/waffled_0125.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>
    