<?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="0.04171245511433557 0.003359313535229791 0.003056367310329067" pos="0.19860319509349472 -0.18693663211310382 0.20305636731032908" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.002301702914330144 0.01634871709908781 0.004863098685714262" pos="0.06909636841341732 -0.1665227509236268 0.20486309868571428" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.049503289044907736 0.02495982532848529 0.0011092276549391471" pos="0.21714832004906498 0.09805659525516686 0.20110922765493916" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01287790250276143 0.038766517915594156 0.0029964605205753153" pos="-0.2826676612321804 0.22793620960053745 0.20299646052057532" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029186669311747376 0.02000798025552499 0.00227982643145239" pos="0.23989189879634215 0.07448784204945952 0.2022798264314524" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04002810658240559 0.04857640678279387 0.004781564601728826" pos="-0.004812492313293226 -0.10217351104743286 0.20478156460172883" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.019369354328749613 0.01133817250430881 0.004140768863598551" pos="-0.024327001363790457 2.972501867654076e-05 0.20414076886359855" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0070813146086861215 0.04611999625841841 0.0010895142232961845" pos="-0.07316339958348506 -0.08165925743973385 0.20108951422329618" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3749880850804999 0.6750012911573 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="315.064776409" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.6113070297072767"></joint>
            <site name="object0" pos="1.191491950014445e-05 0.009998708842700044 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="0.00348937256425 0.00348937256425 0.00348937256425" file="mujoco_models/hollow_cylinder_20mm.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/scaly_0219.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>
    