<?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="0.040356657089725266 0.009906262476870407 0.001983778830318901" pos="0.07242103688290069 0.19571273833971076 0.2019837788303189" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.026961180161647887 0.01979347880402805 0.003686044924723647" pos="-0.02441916506272712 0.26857751013119807 0.20368604492472367" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03807061201283576 0.020551158318454183 0.002280501812815163" pos="0.1898222357740053 -0.049814242856887736 0.20228050181281518" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03472291272818898 0.02177590293784378 0.003589377400333907" pos="-0.05045332047914802 -0.13300692534749972 0.20358937740033392" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013160332546065748 0.01625891157460285 0.0006101559820169888" pos="-0.06492960251866234 -0.0976640002270942 0.200610155982017" 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="1801.82784552" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.7545032301486003"></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="0.00120520509246 0.00120520509246 0.00120520509246" file="mujoco_models/candle_holder.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/waffled_0122.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>
    