<?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="0.04356051103834211 0.008239148087580177 0.0023588995246616885" pos="0.29170107304380916 -0.28107722254036677 0.2023588995246617" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04559085043940651 0.045413357951542756 0.0030214808586976195" pos="0.18563244361952158 -0.1634434085380402 0.20302148085869762" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02391564117355966 0.047043418603368116 0.0027594775947610457" pos="0.29375191262118633 0.04361509086851767 0.20275947759476107" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.015014262955427102 0.026960002975608726 0.0016812493995767318" pos="-0.1267317746323064 0.08499044650336918 0.20168124939957674" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.046482060077800105 0.01316995723144056 0.0019363909437486568" pos="-0.18956395560030515 -0.23388398646252911 0.20193639094374866" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.019952579881628796 0.045954300148741585 0.002435280841384245" pos="-0.02942439132428748 0.2713962379197579 0.20243528084138426" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04826933291327241 0.026278624506534096 0.0034865037879365686" pos="0.07914808711865229 -0.07872913378819782 0.2034865037879366" 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="179.196073911" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.294744180465577"></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="0.004963334180345 0.004963334180345 0.004963334180345" file="mujoco_models/hexagonal_prism.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/knitted_0144.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>
    