<?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="0.049877518759346366 0.018734307523646042 0.0027010255736875932" pos="-0.16861928147760322 0.055590922974723456 0.2027010255736876" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.038033875880742134 0.010161269381523598 0.0007845037826782828" pos="-0.1195906009628156 0.2861889554512263 0.2007845037826783" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.002755583399844751 0.01715086213671803 0.0025244407069154318" pos="0.20590076265895269 0.13059881353700337 0.20252444070691544" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.025100632418304396 0.018345220568545265 0.0038335003989751026" pos="-0.10016492997417278 -0.06379390330639514 0.2038335003989751" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04592873119513789 0.04850618443928832 0.0009697427584530099" pos="-0.1429461048978451 -0.2149923952302208 0.20096974275845303" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007474065301879295 0.008317731925500962 0.001195322104567293" pos="-0.11864971962023124 -0.1786663956162982 0.2011953221045673" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.00944201338743052 0.03508173024181819 0.004514760983405577" pos="0.14954465278481793 0.09579726430965874 0.2045147609834056" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.042108895856000084 0.0441949403340423 0.00032282280132090905" pos="-0.29238283607832793 -0.14856642866082276 0.2003228228013209" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009992723737910637 0.0023457904012046853 0.002560022774647064" pos="0.05830920511698018 -0.034088210985968814 0.20256002277464707" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.007982889153047602 0.031737644201621174 0.0010224009282881268" pos="0.2035196850945073 0.1532673496657065 0.20102240092828813" 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="5294.65949528" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="1.5533125371844396"></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="0.00123648341759 0.00123648341759 0.00123648341759" file="mujoco_models/King.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/bubbly_0168.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>
    