<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<include file="shared_config.xml"></include>
	<worldbody>
		<include file="sawyer_wsg_base.xml"></include>
        <site name="hand-goal-site" pos="0 0 0" size="0.05"
			  rgba="1 0.5 0.5 0.5"/>

		<light name="light0" mode="fixed" directional="false" active="true" castshadow="true" pos = "0 0 3"/>
	</worldbody>
	<!--begin_auto_replace -->
        <include file="objects.xml"/>
    <!--end_auto_replace -->
	<actuator>
        <position ctrllimited="true" ctrlrange="-0.2 0.2" forcelimited = "true" forcerange="-40 40" joint="base_joint_gripper_left" kp="30000"/>
        <position ctrllimited="true" ctrlrange="-0.2 0.2" forcelimited = "true" forcerange="-40 40" joint="base_joint_gripper_right" kp="30000"/>
    </actuator>
</mujoco>
