<?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="0.016387836633177142 0.013564484093492871 0.004513124265719339" pos="0.20545337564594163 -0.085794968396772 0.20451312426571935" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029256976910101956 0.011363109552041593 0.003083681602622726" pos="-0.15317629652748618 -0.0959869952850387 0.20308368160262275" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04690846333820134 0.04175432265246671 0.00021313838198155864" pos="-0.18877552803043612 0.04563967731059798 0.20021313838198157" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023389028988243535 0.009000634037080606 0.0009986930878920438" pos="0.19384842501283056 -0.09621179742603073 0.20099869308789206" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.003870170912596467 0.024784412997886227 0.0012844376570610937" pos="-0.1949735624373775 -0.1272764644537201 0.2012844376570611" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04606877845549835 0.028387783756875177 0.0037786326404415658" pos="-0.09249341123002106 -0.2267944900476638 0.20377863264044158" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.003720588090410089 0.0034508068669854364 0.004089176966425256" pos="0.19916408661538793 -0.1738274428006513 0.20408917696642526" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03108831688486264 0.03878049800809823 0.000591728197224638" pos="0.11006245963941536 -0.18532132970438717 0.20059172819722465" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.042682798946643924 0.005118800886360442 0.0011534500399678614" pos="-0.24853589411225518 -0.1303977005375281 0.20115345003996787" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02278941887047518 0.03115921174302858 0.003319093240583977" pos="0.2536978191294887 0.01251262118601465 0.20331909324058398" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.310604087429 0.7301145321965999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="866.422861308" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.213353184655741"></joint>
            <site name="object0" pos="0.06439591257100008 -0.04511453219659989 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="0.001827223154245 0.001827223154245 0.001827223154245" file="mujoco_models/coin_trap_penny.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/spiralled_0028.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>
    