<mujoco>
  <compiler angle="radian" meshdir="meshes/" />
  <asset>
    <include file="shared_assets.xml"></include>
  </asset>
  <default>
    <include file="shared.xml"></include>
  </default>

  <worldbody>
    <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
    <geom name="floor0" pos="0.4 0 -0.92" size="2.2 2.7 1" type="plane" condim="3" material="floor_mat"></geom>

    <camera name="camera_topdown" mode="fixed" zaxis="0 0 1" pos="0 0 3" />
    <camera name="camera_side" mode="fixed" zaxis="0 -1 0" pos="0.4 -2 0.5" />
    <camera name="camera_front" mode="fixed" xyaxes="0 1 0 0 0 1" pos="2.4 0 0.5" />

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


    <body name="target_pos" pos="0 0 0">
      <site name="target_pos" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
    </body>


  </worldbody>

  <actuator>
    <position ctrllimited="true" ctrlrange="0 0.020833" joint="r_gripper_l_finger_joint" kp="120000" name="slide_l_claw"
              user="1"/>
    <position ctrllimited="true" ctrlrange="-0.020833 0" joint="r_gripper_r_finger_joint" kp="120000" name="slide_r_claw"
              user="1"/>
    <position joint="right_j0" ctrlrange="-3.0503 3.0503" ctrllimited="true" kp="120000" name="pos_right_j0"/>
    <position joint="right_j1" ctrlrange="-3.8095 2.2736" ctrllimited="true" kp="120000" name="pos_right_j1"/>
    <position joint="right_j2" ctrlrange="-3.0426 3.0426" ctrllimited="true" kp="120000" name="pos_right_j2"/>
    <position joint="right_j3" ctrlrange="-3.0439 3.0439" ctrllimited="true" kp="120000" name="pos_right_j3"/>
    <position joint="right_j4" ctrlrange="-2.9761 2.9761" ctrllimited="true" kp="120000" name="pos_right_j4"/>
    <position joint="right_j5" ctrlrange="-2.9761 2.9761" ctrllimited="true" kp="120000" name="pos_right_j5"/>
    <position joint="right_j6" ctrlrange="-4.7124 4.7124" ctrllimited="true" kp="120000" name="pos_right_j6"/>
  </actuator>

</mujoco>
