<?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="0.0038909513278764358 0.028916815346241034 0.0027916386973824005" pos="0.1264014325029308 0.0619656543034145 0.2027916386973824" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.01021709251527693 0.027487754694494066 0.0038308588569907456" pos="-0.28924748750624607 0.04389306009102628 0.20383085885699076" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03446919863707748 0.004303202387813429 0.001642160877944637" pos="-0.1929700687314182 0.04344624123374663 0.20164216087794465" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04143678441069331 0.042076594620815214 0.0008937978539042114" pos="0.11317224569025514 0.07886129215276716 0.2008937978539042" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.012307264006252653 0.01274772006242917 0.0030187946188594576" pos="-0.24181978530199502 -0.12844375141749143 0.20301879461885947" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.425509625983 0.6239449347699999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="1433.55624777" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.448954770038107"></joint>
            <site name="object0" pos="-0.05050962598300002 0.06105506523000015 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="0.000662047052205 0.000662047052205 0.000662047052205" file="mujoco_models/Stepped_Pencil_Holder.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/crystalline_0111.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>
    