<?xml version="1.0" encoding="utf-8"?>
<mujoco>

    <include file="shared_config.xml"></include>

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

        <body name="obj" pos="0 0.6 0.015">
            <joint name="objjoint" type="free" limited='false' damping="0.0" 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>

         <body name="wall" pos="0.1 0.75 0.05">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.005 0.05" name="wall"
                conaffinity="1" pos="0 0 0.005" mass="1000"/>
        </body>

        <site name="goal" pos="-0.1 0.8 0.2" size="0.02"
              rgba="0.8 0 0 1"/>

    </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>
