<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"/>
    <worldbody>
        <include file="sawyer_xyz_base.xml"/>
        <include file="bottom_right_lighting.xml"/>
        <include file="front_left_lighting.xml"/>
        <body name="slot" pos="-0.1 0.6 0.025">
            <joint name="obj_1" type="free" limited='false' damping="0" armature="0"/>
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="slot_side_0" type="box" pos="-0.07 0 0" size="0.05 0.12 0.05" rgba="0.35 0.35 0.35 1" friction="2 0.1 0.002" condim="4"/>
            <geom name="slot_side_1" type="box" pos="0.07 0 0" size="0.05 0.12 0.05" rgba="0.35 0.35 0.35 1" friction="2 0.1 0.002" condim="3"/>
            <geom name="slot_side_2" type="box" pos="0.0 0.07 0" size="0.02 0.05 0.05" rgba="0.35 0.35 0.35 1" friction="2 0.1 0.002" condim="3"/>
            <geom name="slot_side_3" type="box" pos="0.0 -0.07 0" size="0.02 0.05 0.05" rgba="0.35 0.35 0.35 1" friction="2 0.1 0.002" condim="3"/>
        </body>
    </worldbody>
    <sensor>
        <touch name='rightclaw_sensor' site='rightEndEffector'/>
        <touch name='leftclaw_sensor' site='leftEndEffector'/>
    </sensor>
    <actuator>
        <motor ctrllimited="true" ctrlrange="-1 10" gear="6000" joint="r_close"/>
        <motor ctrllimited="true" ctrlrange="-1 10" gear="6000" joint="l_close"/>
    </actuator>
</mujoco>
