<?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" armature="0"/>
            <!-- <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" /> -->
            <inertial pos="0 0 0" mass="0.05" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04" />
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <geom name="objGeom" type="box" pos="0 0 0" margin="0.001"
                  size="0.02 0.02 0.02" rgba="0 0 1 1"
                  contype="1" conaffinity="1" condim="3" friction="2 0.1 0.002" 
            />
            <!-- <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="goal" pos="0 0 0.1">
            <joint name="goaljoint" type="free" limited='false' damping="0" armature="0"/>
            <!-- <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" /> -->
            <inertial pos="0 0 0" mass="0.05" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04" />
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <geom name="goalGeom" type="box" pos="0 0 0" margin="0.001"
                  size="0.02 0.02 0.02" rgba="1 0 0 1"
                  contype="1" conaffinity="1" condim="3" friction="2 0.1 0.002" 
            />
            <!-- <geom name="goalGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.03 0.015" rgba="1 0 s0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="granite"
            /> -->

        </body>
        <site name="goal_unstack" pos="0 0.6 0.015" size="0.015" 
              rgba="0 0.8 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>
