<?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="0.029607718168099397 0.008784760930304782 0.0014694453963632781" pos="-0.1409336570368937 -0.19989784811874856 0.2014694453963633" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020266162207330244 0.026184236645729237 0.0013276326597828783" pos="0.05519106765929577 0.13826448826967408 0.2013276326597829" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.033000423194836044 0.001510136412506606 0.004815946592728125" pos="0.04468155156028125 0.23833087935941782 0.20481594659272814" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.024841047666592293 0.026842259125602792 0.004730881204208679" pos="0.22587392528450018 -0.2816649542818093 0.20473088120420868" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016274357758408083 0.04910756187873484 0.001559448783025434" pos="-0.19491299415790372 0.15950664562813038 0.20155944878302545" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008080074143371405 0.04024809336283568 0.0016228854556540285" pos="0.027688414126431193 -0.0029971129281696207 0.20162288545565404" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026999752141295196 0.04432977586948762 0.0031352658486935004" pos="0.03856925096160685 -0.0960169175034444 0.2031352658486935" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04757431763318362 0.04338381141140267 0.004759376476198778" pos="0.18739160727129617 -0.2706095240011452 0.2047593764761988" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.038679628259599974 0.014439330228622784 0.002833368177738826" pos="-0.1979428058145169 -0.23851116092893015 0.20283336817773884" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04506380565648532 0.04547164240093531 0.004302238049807106" pos="0.19309156491278234 -0.1428577413289164 0.20430223804980713" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3746430459624999 0.6749999999999999 0.45382354499699995" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1686.13135247" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.0083372655525547"></joint>
            <site name="object0" pos="0.00035695403750013455 0.01000000000000012 -0.033823544996999966" 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="0.00058135806392 0.00058135806392 0.00058135806392" file="mujoco_models/Tree_2_tree.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/banded_0067.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>
    