<?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="0.01874137125231141 0.04389045260748651 0.0028779299222849723" pos="-0.27891925411446605 0.20421024608288257 0.20287792992228498" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.044044372001201045 0.009249737316371562 0.0010910627826515868" pos="-0.1675708182047885 -0.2145919809950207 0.2010910627826516" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008011744252120416 0.04370788753416862 0.0021437099270077923" pos="-0.08239401581089259 -0.15272183560877467 0.2021437099270078" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04534061127907084 0.02966476754591598 0.0017916413169639133" pos="-0.18139378616750446 0.24775157202360681 0.20179164131696392" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011035709960650848 0.004201120625785071 0.0031896249991109626" pos="-0.13374339184744444 -0.19326470437024673 0.20318962499911097" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3963728580505 0.6370588325725 0.416481458629" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="31507.1416096" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.1369170407352664"></joint>
            <site name="object0" pos="-0.021372858050499932 0.0479411674275001 0.0035185413709999946" 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="0.0003014598572415 0.0003014598572415 0.0003014598572415" file="mujoco_models/Recycle_Bin_For_Cans.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/cracked_0087.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>
    