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

        <body name="drawer" pos="-0.17 0.9 0.04">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.1 0.001" name="drawer_bottom" conaffinity="1" pos="0 0 0.005" mass="1000" material="light_wood_v2" />
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.05" name="drawer_wall1" conaffinity="1" pos="0.0 0.1 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.05" name="drawer_wall2" conaffinity="1" pos="0.0 -0.1 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.05" name="drawer_wall3" conaffinity="1" pos="0.1 0 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.05" name="drawer_wall4" conaffinity="1" pos="-0.101 0 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <!--front, parallel to door-->
          <geom type="box" pos="0 -0.2 0.05" size="0.05 0.005 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle" material="light_wood_v2"/>
          <!--front-->
          <geom type="box" pos="0.045 -0.15 0.05" size="0.005 0.05 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood_v2"/>
          <!--front-->
          <geom type="box" pos="-0.045 -0.15 0.05" size="0.005 0.05 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood_v2"/>
          <!-- <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.098 0.098 0.0075 0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.098 -0.098 0.0075 0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.098 0.098 0.0075 -0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.098 -0.098 0.0075 -0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/> -->
          <joint type="slide" range="-0.2 0" axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
          <!-- <site name="handleStart" pos="0 -0.17 0.08" size="0.01" rgba="1 0 0 1"/> -->
          <site name="handleStart" pos="0 -0.2 0.08" size="0.01" rgba="1 0 0 1"/>
          <!-- <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="drawer_cover" pos="-0.17 0.9 0.02">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.105 0.105 0.001" name="cover_top" conaffinity="1" pos="0 0 0.2" mass="1000" material="light_wood_v2"/>
          <!-- <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.12 0.12 0.001" name="cover_bottom" conaffinity="1" pos="0 0 0.005" mass="1000"/> -->
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.105 0.001 0.1" name="cover_wall1" conaffinity="1" pos="0.0 0.105 0.102" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <!-- <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="cover_wall2" conaffinity="1" pos="0.0 -0.1 0.034" mass="1000" solref="0.01 1"/> -->
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.105 0.1" name="cover_wall3" conaffinity="1" pos="0.105 0 0.102" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.105 0.1" name="cover_wall4" conaffinity="1" pos="-0.106 0 0.102" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="0.103 0.103 0.0075 0.103 0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="0.103 -0.103 0.0075 0.103 -0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="-0.103 0.103 0.0075 -0.103 0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="-0.103 -0.103 0.0075 -0.103 -0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <!-- <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/> -->
        </body>
        
        <body name="drawer2" pos="0.17 0.9 0.04">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.1 0.001" name="drawer2_bottom" conaffinity="1" pos="0 0 0.005" mass="1000" material="light_wood_v2" />
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.05" name="drawer2_wall1" conaffinity="1" pos="0.0 0.1 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.05" name="drawer2_wall2" conaffinity="1" pos="0.0 -0.1 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.05" name="drawer2_wall3" conaffinity="1" pos="0.1 0 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.05" name="drawer2_wall4" conaffinity="1" pos="-0.101 0 0.054" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <!--front, parallel to door-->
          <geom type="box" pos="0 -0.2 0.05" size="0.05 0.005 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle2" material="light_wood_v2"/>
          <!--front-->
          <geom type="box" pos="0.045 -0.15 0.05" size="0.005 0.05 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood_v2"/>
          <!--front-->
          <geom type="box" pos="-0.045 -0.15 0.05" size="0.005 0.05 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood_v2"/>
          <!-- <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.098 0.098 0.0075 0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.098 -0.098 0.0075 0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.098 0.098 0.0075 -0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.098 -0.098 0.0075 -0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/> -->
          <joint type="slide" range="-0.2 0" axis="0 1 0" name="goal2_slidey" pos="0 0 0" damping="1.0"/>
          <!-- <site name="handleStart" pos="0 -0.17 0.08" size="0.01" rgba="1 0 0 1"/> -->
          <site name="handle2Start" pos="0 -0.2 0.08" size="0.01" rgba="1 0 0 1"/>
          <!-- <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="drawer2_cover" pos="0.17 0.9 0.02">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.105 0.105 0.001" name="cover2_top" conaffinity="1" pos="0 0 0.2" mass="1000" material="light_wood_v2"/>
          <!-- <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.12 0.12 0.001" name="cover_bottom" conaffinity="1" pos="0 0 0.005" mass="1000"/> -->
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.105 0.001 0.1" name="cover2_wall1" conaffinity="1" pos="0.0 0.105 0.102" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <!-- <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="cover_wall2" conaffinity="1" pos="0.0 -0.1 0.034" mass="1000" solref="0.01 1"/> -->
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.105 0.1" name="cover2_wall3" conaffinity="1" pos="0.105 0 0.102" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.105 0.1" name="cover2_wall4" conaffinity="1" pos="-0.106 0 0.102" mass="1000" solref="0.01 1" material="light_wood_v2"/>

          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="0.103 0.103 0.0075 0.103 0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="0.103 -0.103 0.0075 0.103 -0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="-0.103 0.103 0.0075 -0.103 0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="-0.103 -0.103 0.0075 -0.103 -0.103 0.2" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <!-- <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/> -->
        </body>                       
        
        <site name="goal1" pos="-0.17 0.7 0.05" size="0.02" 
            rgba="0 0.8 0 1"/>
        
        <site name="goal2" pos="0.17 0.7 0.05" 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>
