<?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="0.043135965412217266 0.026422024689148844 0.0016013190272128333" pos="0.18920123248119342 0.10326600866292984 0.20160131902721284" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.049735094630929136 0.033229943094133435 0.004369615155743695" pos="-0.012180455726343908 0.1335509889073806 0.2043696151557437" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03791299551690188 0.006827228147703074 0.0009031843921135495" pos="0.0172811653008052 0.22229410196617844 0.20090318439211355" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.030343309563994815 0.04423992292786822 0.003672437189778513" pos="-0.020866016138644305 -0.043521554472834345 0.2036724371897785" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0031225636922848103 0.022252669693535336 0.004892521697237792" pos="-0.1511836618796697 -0.12631083344510147 0.20489252169723782" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04071331670816351 0.034595869304068494 0.004456718308925457" pos="-0.0029535811010050206 -0.007003046640199129 0.20445671830892548" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.024234862635453786 0.04507183300780396 0.004423934884580821" pos="-0.17684068220292398 0.23403756310129525 0.20442393488458083" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0297729022502507 0.03794213833700495 0.0035249102795591727" pos="0.12333384269330222 0.23173035941529724 0.20352491027955918" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010981227084597103 0.03051564337887407 0.000596496561865317" pos="0.1055946416459701 0.07794429086368493 0.20059649656186532" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016566520650625107 0.01065841379935828 0.0022209374378886404" pos="-0.11849978984905168 0.030011053375833374 0.20222093743788866" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6749999999999999 0.45313989919349995" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="563.840921173" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.4384501163390808"></joint>
            <site name="object0" pos="0.0 0.01000000000000012 -0.033139899193499966" 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="0.002006794199105 0.002006794199105 0.002006794199105" file="mujoco_models/Tree_4_soil.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/pitted_0134.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>
    