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

        <body name="window" pos="0. 0.785 0.16">
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.1 0.015 0.01" name="window_frame_bottom" conaffinity="1" pos="0 0 -0.09" mass="1" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.1 0.015 0.01" name="window_frame_top" conaffinity="1" pos="0 0 0.09" mass="1" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.01 0.015 0.08" name="window_frame_left" conaffinity="1" pos="-0.09 0 0" mass="1" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.01 0.015 0.08" name="window_frame_right" conaffinity="1" pos="0.09 0 0" mass="1" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 0" type="box" contype="1" size="0.08 0.015 0.08" name="glass" conaffinity="1" pos="0 0 0" mass="1" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom type="box" pos="0 -0.085 -0.09" size="0.05 0.01 0.01" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle"/>
          <geom type="box" pos="0.045 -0.045 -0.09" size="0.005 0.03 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
          <geom type="box" pos="-0.045 -0.045 -0.09" size="0.005 0.03 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
          <joint type="slide" range="0 0.2" axis="0 0 1" name="window_slidez" pos="0 0 0" damping="1.0"/>
          <!-- <joint type="slide" range="0. 0.00000001" axis="1 0 0" name="goal_slidex" pos="0 0 0" damping="1.0"/>
          <joint type="slide" range="0. 0.00000001" axis="0 0 1" name="goal_slidez" pos="0 0 0" damping="1.0"/> -->
        </body>
        <body name="window_another" pos="0. 0.815 0.36">
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.1 0.015 0.01" name="window_frame_bottom_another" conaffinity="1" pos="0 0 -0.09" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.1 0.015 0.01" name="window_frame_top_another" conaffinity="1" pos="0 0 0.09" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.01 0.015 0.08" name="window_frame_left_another" conaffinity="1" pos="-0.09 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 1 0.1 1" type="box" contype="1" size="0.01 0.015 0.08" name="window_frame_right_another" conaffinity="1" pos="0.09 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="1 0.3 0.3 0" type="box" contype="1" size="0.08 0.015 0.08" name="glass_another" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <!-- <geom type="box" pos="0 -0.17 -0.05" size="0.05 0.005 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle"/>
          <geom type="box" pos="0.045 -0.135 -0.05" size="0.005 0.035 0.02" rgba="0 0 0 1" contype="1" conaffinity="1"/>
          <geom type="box" pos="-0.045 -0.135 -0.05" size="0.005 0.035 0.02" rgba="0 0 0 1" contype="1" conaffinity="1"/> -->
          <!-- <joint type="slide" range="0 0.2" axis="0 1 0" name="window_slidez_another" pos="0 0 0" damping="1.0"/> -->
          <!-- <joint type="slide" range="0. 0.00000001" axis="1 0 0" name="goal_slidex" pos="0 0 0" damping="1.0"/>
          <joint type="slide" range="0. 0.00000001" axis="0 0 1" name="goal_slidez" pos="0 0 0" damping="1.0"/> -->
        </body>
        <body name="wall" pos="0. 0.8 0.03">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.2 0.03 0.03" name="wall_bottom" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.2 0.03 0.03" name="wall_top" conaffinity="1" pos="0 0 0.46" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.0499 0.03 0.2" name="wall_left" conaffinity="1" pos="-0.1501 0 0.23" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.0499 0.03 0.2" name="wall_right" conaffinity="1" pos="0.1501 0 0.23" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1" friction="1 0.1 0.002" condim="3"/>
        </body>
        <site name="goal" pos="0. 0.7 0.27" size="0.02" 
              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>
