<mujoco>
  <compiler angle="radian" meshdir="meshes/" />
  <asset>
    <include file="shared_assets.xml"></include>
  </asset>
  <default>
    <include file="shared.xml"></include>
  </default>
  <equality>
    <weld body1="mocap" body2="right_gripper_base" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
  </equality>
  <option timestep="0.002">
    <flag warmstart="enable"></flag>
  </option>

  <worldbody>
    <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.03 0.03 0.03" castshadow="false" pos="2 2 2" dir="-1 -.2 -.8" name="light0"></light>
    <geom name="floor0" pos="0.4 0 -0.8" 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"/>
    <body mocap="true" name="mocap" pos="1.04059217 0.160202 0.31832305" quat="-0.45439303 0.54237218 -0.45784103 0.53827594">
      <geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 1.0" size="0.08 0.04 0.02" type="box"></geom>
    </body>

    <include file="objects/box_with_lid.xml"/>
    <include file="objects/block_peg.xml"/>
  </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"/>

  </actuator>

</mujoco>
