<?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="0.0015021819123489618 0.04827592797934599 0.0022230442638038373" pos="0.06459219538272581 0.2713844594755383 0.20222304426380386" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0244565444686068 0.031820571639358246 0.0040965813964437435" pos="0.2639065911764061 0.15191032885834527 0.20409658139644377" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.006020349106733452 0.016709157745080087 0.0013243476685760758" pos="-0.28135632743123334 0.21235364156250308 0.2013243476685761" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.004638778762528594 0.00767861566615759 0.004605324545254695" pos="-0.023039949760599643 0.2099311590580138 0.2046053245452547" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.045085775133223885 0.005441058879160881 0.0015455088639219237" pos="0.17464983173967652 -0.18281475818165288 0.20154550886392195" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02190488605250404 0.049603403135112405 0.0021187159626384284" pos="-0.04185240942612939 -0.05418054736508035 0.20211871596263845" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.043904371340996506 0.027216431620352616 0.004106198164618109" pos="0.2519562222433857 -0.07984567808818616 0.2041061981646181" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.339597377891 0.6472519988875 0.41300000000049997" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1160.08565898" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.832220559151517"></joint>
            <site name="object0" pos="0.035402622109000026 0.037748001112500096 0.006999999999500017" 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="0.001913655249125 0.001913655249125 0.001913655249125" file="mujoco_models/Epic_Crift.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/crystalline_0150.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>
    