<?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="0.025545465280170196 0.0293971011436686 0.004065266303377951" pos="0.0031806266867509536 0.25713406880429407 0.20406526630337796" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017108361470829656 0.011145552645172804 0.002458772381544658" pos="-0.037437598024296415 0.1459867734982926 0.20245877238154467" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.015323299589512191 0.00863864512454595 0.0032083673475989723" pos="0.026967366372943335 -0.2932533371786842 0.20320836734759898" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023174821288141453 0.019099423805574132 0.0003693786473355497" pos="0.04064368160671128 0.2445158594047095 0.20036937864733556" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020198679143586525 0.04106565937303951 0.002269429285815566" pos="-0.21302676123936576 0.22993623940263236 0.20226942928581557" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010090189131605327 0.011496090523431292 0.0017903123927918271" pos="-0.26002112835276314 -0.2597029252100334 0.20179031239279183" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3581113677135 0.6419175047165 0.39976611269249995" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1058.054566" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="0.8150220956476291"></joint>
            <site name="object0" pos="0.01688863228650006 0.043082495283500055 0.02023388730750003" 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="0.0002603272080315 0.0002603272080315 0.0002603272080315" file="mujoco_models/toy_boat_xyz_with_guns.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/stratified_0171.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>
    