<?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="0.01779947378570616 0.03576218146511331 0.002516116517037274" pos="0.15194251077385235 -0.24415042493160904 0.2025161165170373" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.025412708637311557 0.019955189401294825 0.00018822104632672712" pos="-0.20074794163226548 -0.24525770003980998 0.20018822104632675" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.018457323068427317 0.03619486722674055 0.003262839939643863" pos="0.06172387151621689 -0.002039616248380116 0.20326283993964386" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005221002954073967 0.027843736237679058 0.0011513531357749557" pos="0.20907429975406838 -0.17458691803997922 0.20115135313577498" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0415069316712266 0.028476372362028074 0.0019642156981897027" pos="-0.1427919480696683 0.009719942629125122 0.2019642156981897" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02943722969972336 0.008191791043657803 0.0049310668804882895" pos="-0.19406848252487405 0.12587589719796843 0.2049310668804883" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04891196715402102 0.04889424531759882 0.003820045617321921" pos="0.26011261433833305 0.15893886325385415 0.20382004561732192" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03180049270509324 0.011468640222270152 0.0004953315026386863" pos="-0.27535243817558974 -0.04815043281983522 0.2004953315026387" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029878587791537747 0.02106493129700586 0.0037087155249799267" pos="0.012190408460389046 -0.13023469016428546 0.20370871552497993" 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="4928.2066954" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.3044290160913588"></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="0.001484346928925 0.001484346928925 0.001484346928925" file="mujoco_models/Bishop.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/stained_0098.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>
    