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

        
        <body name="obj" pos="-0.3 0.5 0.08" quat= '0 0 1 1'>
            <joint name="objjoint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="0.001" diaginertia="0.01 0.01 0.01"/>
            <geom name="objbox" type="cylinder" pos="0 0 0"
                  size="0.07 0.01" rgba="0 0.5 1 1"
                  contype="1" conaffinity="1" friction="1.0 0.1 0.02" condim="4" 
            />
            <site name="obj" pos="0 0 0" size="0.01" />
        </body>



     <!--    <body name="dishrack" pos="0 0.8 0.01" quat= '1 0 0 1'>
            <geom type="box" pos="0 0 0" size="0.13 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
          
            <geom type="box" pos="0 0.2 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
            <geom type="box" pos="0 0.1 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
            <geom type="box" pos="0 0.0 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
            <geom type="box" pos="0 -0.1 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>
            <geom type="box" pos="0 -0.2 0.07" size="0.13 0.01 0.07"  contype="1" conaffinity="1"/>


        </body>
 -->
        

        <site name="goal" pos="0.3 0.9 0.02" size="0.02"
              rgba="1 0.5 0.5 0.5"/>
       
    </worldbody>
    <actuator>
        <position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="100"  user="1"/>
        <position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="100"  user="1"/>
        
    </actuator>


   <!--  <contact>
        <pair geom1= "objbox" geom2="tableTop"/>
    </contact> -->
</mujoco>
