<?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="0.01707141622710108 0.01196997742989549 0.003367266118882102" pos="-0.19822745863263613 0.24543036456472472 0.20336726611888212" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.04392292141831928 0.044525179109809285 0.004834855756155618" pos="-0.14241260904476852 -0.19450704017919312 0.20483485575615562" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.016905383478761405 0.03741743408995818 0.0024454248071357366" pos="0.15929448631117904 0.10340365759853865 0.20244542480713576" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04711678256581927 0.0348271658088875 0.002841791587816335" pos="-0.20569711414137026 0.25266342099267086 0.20284179158781634" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04983928715748615 0.042281407834212845 0.0005580474430280246" pos="-0.23314655597626915 -0.08105072860259765 0.20055804744302805" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.4253905012969998 0.7954712882749999 0.4130033137475" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="828.80642937" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="4.342204038311688"></joint>
            <site name="object0" pos="-0.050390501296999846 -0.11047128827499986 0.006996686252499995" 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="0.00331374748431 0.00331374748431 0.00331374748431" file="mujoco_models/hubble_model_kit_7.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/wrinkled_0102.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>
    