<?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="0.0024712534257500312 0.04222949541613504 0.0021396016303251906" pos="0.10475693320520207 0.10575898130257055 0.2021396016303252" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0488993007670401 0.008437909678300944 0.002318198367640111" pos="0.13283824539608824 -0.20418861717288905 0.20231819836764012" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04708532672014426 0.007690406899721624 0.004632233887737557" pos="0.0061319039825973864 0.004575253048604178 0.20463223388773757" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.046334239046068204 0.0015111231245853603 0.002054099581032322" pos="-0.22813006178319672 0.16792893041957557 0.20205409958103232" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.010336476991388847 0.020344497630605356 0.00026654105409897917" pos="-0.07970212950907754 -0.19262363589416598 0.200266541054099" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04873362389801861 0.01755016294940316 0.0003188250497001729" pos="-0.2081189314040019 -0.2915265317871588 0.2003188250497002" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02924158453427251 0.022538396237267364 0.0022410247843713707" pos="-0.17176947440866142 -0.06339610631212889 0.2022410247843714" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02775426335026471 0.011033552537475604 0.0019288681184532037" pos="-0.04494259567622472 0.00928247996476661 0.2019288681184532" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022353471423748467 0.02872126135292667 0.004398577880641294" pos="0.16453577423797516 0.026293297202135912 0.2043985778806413" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04615942655877041 0.011611373832562756 0.004902186667738476" pos="0.019176477397569114 -0.2040109397183501 0.2049021866677385" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.028549104301421213 0.04879599695817391 0.0032691128755681837" pos="0.0648636985032015 -0.284011621007032 0.2032691128755682" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.023865490868419277 0.0261038508922644 0.0005692257807709357" pos="-0.24190097100198027 -0.26934232429618193 0.20056922578077094" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03783122515193335 0.03437167031289593 0.002125610243865831" pos="-0.00963526401392345 -0.014833655651688538 0.20212561024386586" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04516334731448105 0.010459753569253893 0.0016934805499236086" pos="0.2261317423515185 -0.01506613893551223 0.20169348054992361" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.372893644283 0.6748650463302499 0.413000086364" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="528.535825276" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.8986152645872867"></joint>
            <site name="object0" pos="0.002106355717000019 0.010134953669750146 0.006999913635999999" 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="0.000905264775695 0.000905264775695 0.000905264775695" file="mujoco_models/Dodecahedron.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/polka-dotted_0157.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>
    