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

    <worldbody>
        <include file="jaco_xyz_base.xml"></include>

        <body name="obj" pos="0 0.6 -0.038">

            <joint name="objjoint" type="free" limited='false' damping="0." armature="0."/>

            <inertial pos="0 0 0" mass=".75" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/>
            <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01" size="0.03 0.015" rgba="1 0 0 1" solref="0.01 1" contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="wood" />
        </body>

        <!-- reach goal -->
        <site name="goal_reach" pos="-0.1 0.5 0.2" size="0.02" rgba="0.8 0 0 1"/>
        <!-- push goal -->
        <site name="goal_push" pos="0.1 0.5 0.02" size="0.02" rgba="0 0.8 0 1"/>
        <!-- place goal -->
        <site name="goal_pick_place" pos="0.1 0.5 0.2" size="0.02" rgba="0 0 0.8 1"/>

    </worldbody>

    <actuator>
        <!-- <position joint='jaco_joint_1' name='pos_act_1' kp="55" ctrlrange='-6.28 6.28' ctrllimited='true'/>
        <position joint='jaco_joint_2' name='pos_act_2' kp="55" ctrlrange='.8 5.46' ctrllimited='true'/>
        <position joint='jaco_joint_3' name='pos_act_3' kp="55" ctrlrange='-6.28 6.28' ctrllimited='true'/>
        <position joint='jaco_joint_4' name='pos_act_4' kp="55" ctrlrange='.5 5.759' ctrllimited='true'/>
        <position joint='jaco_joint_5' name='pos_act_5' kp="5" ctrlrange='-6.28 6.28' ctrllimited='true'/>
        <position joint='jaco_joint_6' name='pos_act_6' kp="5" ctrlrange='1.1344 5.148' ctrllimited='true'/>
        <position joint='jaco_joint_7' name='pos_act_7' kp="5" ctrlrange='-6.28 6.28' ctrllimited='true'/> -->

        <position joint='jaco_joint_finger_1' kp="15" name='pos_act_finger_1' ctrlrange="-6.28 6.28" ctrllimited="true"/>
        <position joint='jaco_joint_finger_2' kp="15" name='pos_act_finger_2' ctrlrange="-6.28 6.28" ctrllimited="true"/>
        <position joint='jaco_joint_finger_3' kp="15" name='pos_act_finger_3' ctrlrange="-6.28 6.28" ctrllimited="true"/>
        <position joint='jaco_joint_finger_tip_1' kp="15" name='pos_act_finger_tip_1' ctrlrange="-6.28 6.28" ctrllimited="true"/>
        <position joint='jaco_joint_finger_tip_2' kp="15" name='pos_act_finger_tip_2' ctrlrange="-6.28 6.28" ctrllimited="true"/>
        <position joint='jaco_joint_finger_tip_3' kp="15" name='pos_act_finger_tip_3' ctrlrange="-6.28 6.28" ctrllimited="true"/>
    </actuator>

</mujoco>