<?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="0.014081994655531553 0.022742232919837634 0.0010268343595876905" pos="0.25585070957581874 0.11375955835155338 0.2010268343595877" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.034263396483505244 0.045925270761881354 0.0007476457494882649" pos="-0.1438409987318481 0.0999334978966524 0.20074764574948828" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.034721445664566024 0.04185114606652104 0.0036654027353639055" pos="-0.2750645871373364 0.07414897007645599 0.2036654027353639" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.03055629796634726 0.02386526875974239 0.0018626347874267516" pos="0.2791604739299199 -0.17116795395964027 0.20186263478742678" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04270316373030938 0.030664293900390407 0.0035074478746820775" pos="0.1643234857458007 -0.017311819163740916 0.20350744787468208" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04875082478418903 0.02454046339778956 0.0014849550444672784" pos="0.24373071312977318 -0.010193318811442087 0.20148495504446728" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04649591781571682 0.027018631182888306 0.0012099918538591944" pos="-0.09365726436616967 0.2892500054699189 0.2012099918538592" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011293021980699949 0.01876012543327393 0.00151332176522739" pos="0.12959935859707067 -0.16097220272159637 0.2015133217652274" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.375 0.6749999999999999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="235.139943338" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.706815956514008"></joint>
            <site name="object0" pos="0.0 0.01000000000000012 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="0.1170002204885 0.1170002204885 0.1170002204885" file="mujoco_models/ball_holder.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/pleated_0105.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>
    