<mujoco>
  <compiler angle="radian" meshdir="meshes/" />
  <asset>
    <include file="shared_assets.xml"></include>
  </asset>
  <default>
    <include file="shared.xml"></include>
  </default>

  <worldbody>
    <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
    <geom name="floor0" pos="0.0 0 -0.8057" size="1.4 1.2 1" type="plane" condim="3" material="floor_mat"/>

    <include file="sawyer_robot.xml"/>

    <body name="object0" pos="0.332 -0.15 0.025">
      <joint name="object0:joint" type="free" damping="0.01"></joint>
      <geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" rgba="0 1 0 1" mass="0.1"></geom>
    </body>

    <body name="object1" pos="0.232 -0.25 0.025">
      <joint name="object1:joint" type="free" damping="0.01"></joint>
      <geom size="0.025 0.025 0.025" type="box" condim="3" name="object1" rgba="1 0 0 1" mass="0.1"></geom>
    </body>

    <body name="object2" pos="0.132 -0.35 0.025">
      <joint name="object2:joint" type="free" damping="0.01"></joint>
      <geom size="0.025 0.025 0.025" type="box" condim="3" name="object2" rgba="0 0 1 1" mass="0.1"></geom>
    </body>

    <body mocap="true" name="mocap" pos="0.2369680365278436 0.7377722688452103 0.30233579064225752">
      <geom conaffinity="0" contype="0" pos="0 0 0" rgba="1.0 1.0 1.0 0.0" size="0.02 0.02 0.02" type="box"></geom>
    </body>
  </worldbody>

  <actuator>
    <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
    <motor gear="1" joint="r_gripper_l_finger_joint" name="slide_l_claw"/>
    <motor gear="1" joint="r_gripper_r_finger_joint" name="slide_r_claw"/>
  </actuator>

</mujoco>
