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

        <body name="dial" pos="0 0.7 0.">
          <inertial pos="0 0 0" mass="1." diaginertia="8.80012e-0 8.80012e-0 8.80012e-0"/>
          <geom name="dial" size=".03 .03 .03" type="box" margin="0.001"
                contype="1" conaffinity="1" condim="3" friction="1 0.1 0.002" 
            material="wood"/>
          <joint type="hinge" range="-3.14 3.14" axis="0 0 1" name="joint" pos="0 0 0" damping="1" armature="0" limited="true"/>
          
          <!-- <site name="dialStart" pos="0.03 -0.03 0.03" size="0.005" rgba="0 0 1 1"/> -->
          <site name="dialStart" pos="0 -0.03 0.03" size="0.005" rgba="0 0 1 1"/>
        </body>

        <!-- <site name="goal" pos="-0.03 0.73 0.03" size="0.02" 
              rgba=".8 0 0 1"/> -->
        <site name="goal" pos="0. 0.73 0.03" size="0.02" 
              rgba=".8 0 0 1"/>

        <!-- <body name="dial" pos="0 0.7 .05">
          <inertial pos="0 0 0" mass="1." diaginertia="8.80012e-0 8.80012e-0 8.80012e-0"/>
          <geom name="lever" rgba="0.3 1 0.3 1" size=".03 .1 .03" type="box" margin="0.001"
                contype="1" conaffinity="1" condim="3" friction="1 0.1 0.002" 
            />
          <joint type="hinge" range="-3.14 3.14" axis="0 0 1" name="joint" pos="0 0 0" damping="1" armature="0"/>
          <site name="dialStart" pos="-0.03 -0.1 0.03" size="0.005" rgba="1 0 0 1"/>
        </body>

        <site name="goal" pos="0.03 0.8 0.08" size="0.02" 
              rgba=".8 0 0 1"/> -->

<!--         <body name="box" pos="0 0.8 0.05">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_left" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_right" conaffinity="1" pos="0 0.16 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_front" conaffinity="1" pos="0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_behind" conaffinity="1" pos="-0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
        </body>
 -->    </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>