<?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="0.013401975082958338 0.04260365384483736 0.002714232535644724" pos="0.13927804370142832 -0.17544740785361265 0.20271423253564474" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010612722921086074 0.029607507514277966 0.0010408087683433848" pos="-0.181366214042943 -0.24046749915106935 0.2010408087683434" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03821838569856574 0.005320853209133727 0.004455986699578386" pos="0.22233212444385703 -0.20324288178192682 0.2044559866995784" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04840231287746155 0.01770546073959902 0.004456084630379803" pos="-0.25663527996006635 -0.21373735678701022 0.20445608463037981" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022628397664623837 0.0033359293059759343 0.001420616910065699" pos="0.059301909337738434 -0.22102264802068317 0.20142061691006571" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007098934076385684 0.0206581424156917 0.0006052896534099128" pos="0.09170467781795255 0.17425536630883404 0.20060528965340993" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3749999956549999 0.6750082076764999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="438.540517869" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.4145611459153247"></joint>
            <site name="object0" pos="4.345000137462307e-09 0.009991792323500115 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="0.00113901172205 0.00113901172205 0.00113901172205" file="mujoco_models/mug.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/matted_0091.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>
    