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

        <body name="door" pos="0.1 0.85 0.1">
                <joint name="doorjoint" pos="-.16 0 0" axis="0 0 1"
                       type="hinge" limited="true" range="-1.5708 0" damping="1" armature="0" />
                <geom type="box" pos="0 0 0" size="0.15 0.01 0.1"
                      rgba=".1 .1 .9 1" contype="1" conaffinity="1" material="light_wood"/>
                <!--front, parallel to door-->
                <geom type="box" pos="0.1 -0.15 0.05" size="0.05 0.01 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle" material="light_wood"/>
                <!--front-->
                <geom type="box" pos="0.14 -0.075 0.05" size="0.01 0.075 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood"/>
        </body>
        <camera mode="fixed" name="agentview" pos="-0.0 1.2 0.8" quat="0.924 -0.383 0 0"/>
        <site name="goal" pos="-0.2 0.6 0.15" size="0.02" 
              rgba="0 0.8 0 0"/>
        <body name="obj0" pos="0 0.6 0.05">
            <geom name="objGeom0" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.06 0.06 0.06" rgba="0.0 1.0 0.0 1" solref="0.01 1"
                  contype="1" conaffinity="1" condim="4" 
            />
            <joint name="objGeom0_x" type="slide" pos="0 0 0" axis="1 0 0" range="-0.3 0.3" damping="0.00001"/>
            <joint name="objGeom0_y" type="slide" pos="0 0 0" axis="0 1 0" range="-0.3 0.3" damping="0.00001"/>
            <inertial pos="0 0 0" mass="0.000001" diaginertia="0.001 0.001 0.001"/>
        </body>

        <body name="obj1" pos="0 0.6 0.05">
            <geom name="objGeom1" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.06 0.06 0.06" rgba="1 0.5 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" condim="4" 
            />
            <joint name="objGeom1_x" type="slide" pos="0 0 0" axis="1 0 0" range="-0.3 0.3" damping="0.00001"/>
            <joint name="objGeom1_y" type="slide" pos="0 0 0" axis="0 1 0" range="-0.3 0.3" damping="0.00001"/>
            <inertial pos="0 0 0" mass="0.000001" diaginertia="0.001 0.001 0.001"/>
        </body>
      
      <body name="obj2" pos="0 0.6 0.05">
            <geom name="objGeom2" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.06 0.06 0.06" rgba="0 0.0 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" condim="4" 
            />
            <joint name="objGeom2_x" type="slide" pos="0 0 0" axis="1 0 0" range="-0.3 0.3" damping="0.00001"/>
            <joint name="objGeom2_y" type="slide" pos="0 0 0" axis="0 1 0" range="-0.3 0.3" damping="0.00001"/>
            <inertial pos="0 0 0" mass="0.000001" diaginertia="0.001 0.001 0.001"/>
        </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="100" joint="r_close" name="slide"/>
    </actuator> -->
    <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>
