<?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="0.03397069541734314 0.004736679338551779 0.004789832179585225" pos="0.04944117233382561 -0.2022557129970301 0.20478983217958524" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.032047948372382805 0.024778113809836654 0.0037307712747254402" pos="0.06792532262120166 -0.2667148637343362 0.20373077127472544" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04431138450992123 0.04803593887094096 0.0035972891462343537" pos="-0.2977043496386321 -0.06796936257594458 0.20359728914623437" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.035877388104009506 0.04700097034993075 0.003504853665092754" pos="-0.08424108050259424 -0.12783260992458143 0.20350485366509277" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0033960487235030618 0.03270331518344187 0.0019308224495924303" pos="0.0858233101138125 0.2708540253569645 0.20193082244959243" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.017873002767724164 0.01797460133729931 0.0008078624509822874" pos="-0.26241586641977616 -0.09747649051485244 0.2008078624509823" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04266329794752287 0.0459894999867326 0.0019858428305459495" pos="0.1899657372792583 0.28744443478915155 0.20198584283054596" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04079978492940883 0.04941289851587929 0.0002323283298266527" pos="-0.2475700247927145 0.1062750720762351 0.20023232832982665" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.38542928715 0.67916941382625 0.39998921431049994" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="3699.65542645" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.9149057238980152"></joint>
            <site name="object0" pos="-0.010429287150000022 0.005830586173750096 0.020010785689500044" 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="0.000168680697026 0.000168680697026 0.000168680697026" file="mujoco_models/1960_corvette.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/potholed_0155.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>
    