<?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="0.035751234995356165 0.03438592691421591 0.002275656690069348" pos="0.044895266958734414 -0.1436795672974982 0.20227565669006936" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
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<geom size="0.04948568640251053 0.004426039182406084 0.00037269729676272774" pos="-0.08239350396382808 0.2636815438404458 0.20037269729676274" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.019618414729562862 0.012211829489704396 0.004883472900127838" pos="-0.1598666531480464 0.11080851077837839 0.20488347290012784" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.006473767333077319 0.031974907490207566 0.0008102666434324306" pos="-0.13277642790188807 -0.03810042457270685 0.20081026664343243" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03848582658940407 0.028202762881156317 0.0009823707679706296" pos="0.1529387045567157 0.08263446770018601 0.20098237076797065" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.001942086560907055 0.004214347213241822 0.0005513732706115747" pos="-0.15029621710655633 -0.1339681025917362 0.2005513732706116" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3750027023529998 0.6749999999999999 0.4129999999999999" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="773.815197163" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="2.525578798891483"></joint>
            <site name="object0" pos="-2.702352999817137e-06 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="0.00711518505805 0.00711518505805 0.00711518505805" file="mujoco_models/Thumb_Screw.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/matted_0142.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>
    