<?xml version="1.0" encoding="utf-8"?>
<mujoco>
  <include file="shared_config_kuka.xml"></include>
  <worldbody>
    <include file="sawyer_xyz_base_kuka.xml"></include>

        <body name="obj" pos="0 0.6 0.03">
            <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="objGeom" type="sphere" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.03" rgba="0 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" 
            />
            <!-- <geom name="objGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02 0.02" rgba="0 0 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="2 0.1 0.002" condim="4" 
            /> -->
           <!--  <site name="obj" pos="0 0 0" size="0.01" /> -->
        </body>

         <body name="basket_goal" pos="0.7 0. 0.15">
          <!-- <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.1 0.001" name="basket_bottom" conaffinity="1" pos="0 0 0.005" mass="1000"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.15" name="basket_wall1" conaffinity="1" pos="0.0 0.1 0.154" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.15" name="basket_wall2" conaffinity="1" pos="0.0 -0.1 0.154" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.15" name="basket_wall3" conaffinity="1" pos="0.1 0 0.154" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.15" name="basket_wall4" conaffinity="1" pos="-0.101 0 0.154" mass="1000" solref="0.01 1"/> -->
          <geom type="box" contype="1" size="0.02 0.1 0.15" name="basket_goal" conaffinity="1" pos="0 0 0.005" mass="1000"/>
          <geom type="box" pos="-0.08 0 0.1" size="0.005 0.03 0.005" contype="1" conaffinity="1" name="handle" material="light_wood_v3"/>
          <geom type="box" pos="-0.05 0.025 0.1" size="0.03 0.005 0.005" contype="1" conaffinity="1" material="light_wood_v3"/>
          <geom type="box" pos="-0.05 -0.025 0.1" size="0.03 0.005 0.005" contype="1" conaffinity="1" material="light_wood_v3"/>
          <site name="goal" pos="-0.05 0 0.1" size="0.01" rgba="1 0 0 1"/>
        </body>

  </worldbody>
  <actuator>
      <position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="400"  user="1"/>
      <position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400"  user="1"/>
  </actuator>
</mujoco>