<?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="0.031545893192198846 0.036729732265452716 0.0002295625818974515" pos="0.06762054575870724 -0.06165692758883318 0.20022956258189747" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.031787315106154124 0.009903694563072378 0.004450418538578037" pos="0.16174976739069208 -0.19182965361147986 0.20445041853857804" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.032377693085542544 0.017453518826183533 0.004608996535028119" pos="-0.26942075914531316 -0.01702951074949255 0.20460899653502812" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.048224087963502464 0.043512941275804067 0.0007137603319812471" pos="-0.2759294346089439 -0.1269678144966339 0.20071376033198127" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04366071305502682 0.015953848597501902 0.0035038120282664966" pos="-0.03950605506901117 0.21648960232431852 0.2035038120282665" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020132356721329205 0.0053081752616806095 0.0031745503505919734" pos="-0.2776375721377711 -0.16943535184381545 0.20317455035059198" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.016295066561835724 0.022445680664417822 0.0029920634662626267" pos="0.2957185990293108 0.0895281823088544 0.20299206346626264" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
        </body>
        
        <body pos="1.3338174230695 0.6762739774272 0.41342357043749994" name="object0">
            <light castshadow="false"/>
            <geom type="mesh" density="6960.09815739" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
            <joint name="object0:joint" type="free" damping="3.636635116613704"></joint>
            <site name="object0" pos="0.04118257693050009 0.008726022572800085 0.006576429562500041" 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="0.00168076527342 0.00168076527342 0.00168076527342" file="mujoco_models/adptador_grifo.stl" name="object_mesh"/>
        <texture file="textures/obj_textures/lined_0132.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>
    