<?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="0.03002651201524997 0.013574910243334438 0.004767673014561412" pos="-0.19564429905234043 -0.014137041259252525 0.20476767301456142" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04449487510514348 0.03578617019659461 0.002723373893601852" pos="0.11269683184546192 -0.03732390018548859 0.20272337389360187" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02044348823652473 0.03176406397849175 0.0037113403372310517" pos="0.26247613525435426 0.20192732839408606 0.20371134033723107" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04807393281146012 0.0066784200448776745 0.004948419982650484" pos="-0.17981892799789423 -0.2514576461027725 0.2049484199826505" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03318371463960167 0.034000877103224164 0.004871729065975287" pos="0.1626142114634369 -0.06440500120444109 0.2048717290659753" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03040516525443298 0.03086326301529619 0.003850551803627236" pos="0.04865882262561966 -0.06813559210500669 0.20385055180362724" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03439144696883147 0.012764973777508126 0.0018128010876038467" pos="-0.2570213263081185 0.18973810083448817 0.20181280108760385" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004478955520886703 0.015641043898027042 0.004635601270952832" pos="0.035645810761503194 -0.16927204822426406 0.20463560127095284" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04965147110769812 0.04415574462596218 0.00043408333609427804" pos="-0.1618289625994658 0.08535635598679137 0.20043408333609428" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010741354693145123 0.027321718735565718 0.0009127177275302778" pos="0.10362330532238145 0.018741670195606075 0.20091271772753028" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04850217993640976 0.007556850599936909 0.002700534120874796" pos="-0.11296566621906276 0.06761325774940596 0.2027005341208748" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010959521484020136 0.046344230556211466 0.0022458169040372633" pos="-0.0409371714855854 0.17179502589415901 0.20224581690403728" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.045468395215842956 0.0252047143414987 0.0038793172187359484" pos="-0.2136354219044807 -0.14855453323263715 0.20387931721873595" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3754171202665 0.6831979029784999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="3030.43844554" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.141449294765594"></joint>
            <site name="object0" pos="-0.0004171202664999818 0.0018020970215001375 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="0.00055579003244 0.00055579003244 0.00055579003244" file="mujoco_models/brilliant_turing4.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/swirly_0161.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>
    