<?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="0.04046765943284483 0.029719289145316095 0.002889505907923042" pos="0.007248429554270741 0.2830578456683706 0.20288950590792304" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.018828393979490255 0.03960787179673994 0.002820941126588102" pos="-0.0626197994245643 0.2732795599834685 0.2028209411265881" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03031748249886967 0.006826930165154664 0.0021459420848845973" pos="0.16894903660896454 0.11624821394352824 0.20214594208488462" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.045900676161992136 0.013709491822934492 0.0038151492101337363" pos="-0.024074875563287468 0.044165848180089284 0.20381514921013374" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04779728736930787 0.048985029679469695 0.004321795723235261" pos="-0.08454174736182224 0.23262050143639185 0.20432179572323528" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03229184970442924 0.022069842243064942 0.0002751391442523703" pos="0.1620768745149493 0.001263348434467848 0.20027513914425238" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03952323647378798 0.03765311716782022 0.003988480103436925" pos="-0.1196093047819399 0.18047915944057857 0.20398848010343693" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0278934700948422 0.02419298382200802 0.003408116977721709" pos="-0.287184790236991 -0.23860991046744345 0.2034081169777217" 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="266.845053643" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.8591132646395474"></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="0.005619789496 0.005619789496 0.005619789496" file="mujoco_models/strainer.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/perforated_0139.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>
    