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

        <body name="box" pos="0. 0.8 0.">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.1 0.001" name="box_bottom" conaffinity="1" pos="0 0 0.001" mass="1000" friction="1 0.1 0.002" />
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.001 0.02" name="box_wall1" conaffinity="1" pos="0.0 0.1 0.022" mass="1000" friction="1 0.1 0.002" />
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.001 0.02" name="box_wall2" conaffinity="1" pos="0.0 -0.1 0.022" mass="1000" friction="1 0.1 0.002" />
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.001 0.1 0.02" name="box_wall3" conaffinity="1" pos="0.1 0 0.022" mass="1000" friction="1 0.1 0.002" />
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.001 0.1 0.02" name="box_wall4" conaffinity="1" pos="-0.1 0 0.022" mass="1000" friction="1 0.1 0.002" />
        </body>
        <body name="cover" pos="0. 0.8 0.043">
          <inertial pos="0 0 0" mass="1" diaginertia="100000 100000 10000"/>

          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.106 0.106 0.001" name="cover_top" conaffinity="1" pos="0 0 0" mass="1" friction="1 0.1 0.002" />
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.106 0.001 0.01" name="cover_wall1" conaffinity="1" pos="0.0 0.107 -0.0099" mass="1" friction="1 0.1 0.002" />
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.106 0.001 0.01" name="cover_wall2" conaffinity="1" pos="0.0 -0.107 -0.0099" mass="1" friction="1 0.1 0.002" />
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.001 0.106 0.01" name="cover_wall3" conaffinity="1" pos="0.107 0 -0.0099" mass="1" friction="1 0.1 0.002" />
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.001 0.106 0.01" name="cover_wall4" conaffinity="1" pos="-0.107 0 -0.0099" mass="1" friction="1 0.1 0.002" />
          <geom type="box" pos="0 0 0.09" size="0.05 0.01 0.01" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle" friction="2 0.1 0.002" />
          <geom type="box" pos="0.045 0 0.04" size="0.01 0.01 0.04" rgba="0 0 0 1" contype="1" conaffinity="1" friction="2 0.1 0.002" />
          <geom type="box" pos="-0.045 0 0.04" size="0.01 0.01 0.04" rgba="0 0 0 1" contype="1" conaffinity="1" friction="2 0.1 0.002" />
          <joint type="free" limited='false' damping="0.1"/>
        </body>
        <site name="goal" pos="0. 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>
