<?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="0.014009878384566986 0.010035650964671877 0.002969661164827154" pos="-0.05385679501993926 0.14581373551994858 0.20296966116482718" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04543195302289063 0.01548692575656787 0.003284511750296322" pos="-0.04636668450594561 -0.27435660418751656 0.20328451175029633" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.031156200976297233 0.018821425725518245 0.00016725762209926091" pos="-0.016632011360878496 -0.24499865947676203 0.20016725762209928" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03178031322879234 0.026798321905055676 0.002551708841498061" pos="0.26212752509358067 0.228256427229715 0.20255170884149806" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.035982764363961126 0.02929949482537011 0.0013366096371422327" pos="-0.2951023395320344 -0.228219155853349 0.20133660963714226" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01669441726816363 0.010639664449533834 0.0028930187301465524" pos="0.020969890496904287 -0.0661251330355242 0.20289301873014656" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.040226681750998146 0.036826700146730035 0.003470626043027114" pos="0.00160514846610188 -0.27393286234580333 0.20347062604302713" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02197335872468737 0.02545990989303308 0.002294453222048875" pos="-0.2973152239729602 0.09145731527115136 0.2022944532220489" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013612245991211077 0.0031882823936128114 0.0025669961859586614" pos="0.25232842959673324 -0.28233582998038304 0.20256699618595866" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0016733380605007213 0.029799656256273847 0.0027606325628111023" pos="-0.29057619089230285 -0.2381587495953587 0.20276063256281113" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3697253849745 0.6714838242658999 0.41300070323499993" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="5851.73436597" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.5835839332830692"></joint>
            <site name="object0" pos="0.0052746150255000845 0.013516175734100133 0.0069992967650000515" 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="0.00070323514682 0.00070323514682 0.00070323514682" file="mujoco_models/joshuaoiltankerwhite.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/studded_0162.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>
    