<?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 0.85 0.221">
            <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="objGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02 0.02" rgba="0 0 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" 
            />
        </body> -->

        <body name="obj" pos="0 0.8 0.121">

            <joint name="objjoint" type="free" limited='false' damping="0." armature="0."/>

            <inertial pos="0 0 0" mass=".01" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/>
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02" rgba="1 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="wood"
            />
        </body>


        <body name="shelf" pos="0. 0.8 0.001">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.3 0.1 0.001" name="level1" conaffinity="1" pos="0 0 0" mass="1000"/>
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.3 0.1 0.001" name="level2" conaffinity="1" pos="0 0 0.05" mass="1000"/>
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.3 0.1 0.001" name="cover" conaffinity="1" pos="0 0 0.1" mass="1000" friction="2 0.1 0.002"/>
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.3 0.0015 0.05" name="wall1" conaffinity="1" pos="0.0 0.1 0.051" mass="1000"/>
          <!-- <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="1 0.3 0.3 1" type="box" contype="1" size="0.001 0.1 0.05" name="wall3" conaffinity="1" pos="0.3 0 0.051" mass="1000"/>
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.001 0.1 0.05" name="wall4" conaffinity="1" pos="-0.301 0 0.051" mass="1000"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.303 0.13 0.0075 0.303 0.13 0.1" contype="2" size="0.005" conaffinity="2"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.303 -0.13 0.0075 0.303 -0.13 0.1" contype="2" size="0.005" conaffinity="2"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.303 0.13 0.0075 -0.303 0.13 0.1" contype="2" size="0.005" conaffinity="2"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.303 -0.13 0.0075 -0.303 -0.13 0.1" contype="2" size="0.005" conaffinity="2"/>
          <!-- <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/> -->
        </body>
          <!-- <site name="goal" pos="0 0.6 0.02" size="0.02" rgba="0 0.8 0 1"/> -->
          <site name="goal" pos="0 0.6 0.02" size="0.015" rgba="0 0.8 0 1"/>
       
    </worldbody>
    <!-- <sensor>
        <touch name='rightclaw_sensor' site='rightEndEffector'/>
        <touch name='leftclaw_sensor' site='leftEndEffector'/>
    </sensor> -->
    <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>
