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


    <asset>
        <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="1 1 1" />
    </asset>
    <worldbody>
       <!--  <camera name="robotview" pos="0.0 0.95 0.95" euler="-0.392699 0.0 3.14159" /> -->
      <!-- <camera name="robotview" pos="0.0 1.2 1" euler="-0.5 0.0 3.14159" /> -->
     
     <!--  <camera name="angled_cam" pos="-0.8 0.8 0.5" euler="0 -1.1 -1.56" /> -->
      <!-- <camera name="angled_cam" pos="-0.8 0.8 0.3" euler="0 -1.56 -1.56" /> -->
     <!--  <camera name="angled_cam" pos="-1. 0.4 0.2" quat='1.144 1.144 -0.831 -0.831' /> -->
         <!--  <camera name="angled_cam" pos="-0.8 0.5 1.0" quat=' 1.306 0.5411 -0.5411 -1.306' /> -->
         <!-- <camera name="angled_cam" pos="-0.8 0.5 1.0" quat=' 1.3745 0.7387 -0.3301 -1.2052' /> -->
        <!--  <camera name="angled_cam" pos="-0.9 0.5 0.4" quat=' 1.3088 0.9509 -0.6907 -0.9507' /> -->
        <camera name="angled_cam" pos="-0.9 0.5 0.5" quat=' 1.345 0.8988 -0.6529 -0.977' />
      
     <!--    <camera name="robotview" pos="0.0 1.2 0.6" euler="-0.78 0.0 3.14159" /> -->

       <!--  <camera name="robotview_zoomed" pos="0.0 1.3 0.4" euler="-1.2 0.0 3.12159" />
         -->
        <include file="sawyer_wsg_base.xml"></include>
        
        <body name="obj" pos="0 0.6 0.04">
            <joint name="objjoint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="0.1" diaginertia="100000 100000 100000"/>
           <!--  <geom name="objGeom" type="box" pos="0 0 0"
                  size="0.025 0.025 0.025" rgba="0 0 1 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="3" 
            /> -->
            <geom name="objGeom" type="cylinder" pos="0 0 0"
                  size="0.04 0.04" rgba="0 0 1 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="3" 
            />

           <!--  <site name="obj" pos="0 0 0" size="0.01" /> -->
        </body>

        <body name="coffe_machine" pos="0 1.1 0.25"  euler='0 0 -1.57'>
            <!-- <joint name="doorjoint" pos="0 0.2 0" axis="0 0 1" type="hinge" limited="true" range="-3 3" damping="100" armature="0" /> -->
           <!--  <geom type="box" name='top' pos="0.05 -0.2 0" size="0.06 0.01 0.01" contype="1" conaffinity="1" material="wood_106"/> -->
            <geom type="box" name='top' pos="0.1 0 0.12" size="0.08 0.2 0.08"  contype="1" conaffinity="1" material="metal_51" rgba = '0.57 0.57 0.57 1'/>
            <site name="button" type='cylinder' pos="0.19 0.07 0.12" size="0.03 0.01" rgba="0 0 0 1" quat='1 0 1 0'/>
            
            <geom type="box" name='body' pos="0 0 0" size="0.02 0.2 0.2"  contype="1" conaffinity="1" material="wood_106"/>
            <geom type="box" name='bottom' pos="0.08 0 -0.225" size="0.1 0.2 0.025"  contype="1" conaffinity="1" material="wood_106"/>
            <!-- <site name="goal_coster" type='cylinder' pos="0.09 0 -0.2" size="0.06 0.002" rgba="0.29 0.6 0 1"/> -->
        </body>

        <site name="goal" type='cylinder' pos="0 1.0 0.05" size="0.06 0.002" rgba="0.29 0.6 0 1"/>
        
      <!--  <geom type="box" name='wall1' pos="2 1 0.5" size="0.1 2 2"  contype="0" conaffinity="0" rgba = '1 0 0 1'/>
        <geom type="box" name='wall2' pos="-2 1 0.5" size="0.1 2 2"  contype="0" conaffinity="0" rgba = '0 0 1 1'/>


        <geom type="box" name='wall3' pos="0 3 0.5" size="2 0.1 2"  contype="0" conaffinity="0" rgba = '0 1 0 1'/>
        <geom type="box" name='wall4' pos="0 -1 0.5" size="2 0.1 2"  contype="0" conaffinity="0" rgba = '0 1 1 1'/> -->
       

       <!--  <site name="goalSpace" pos="0 0.75 0.02" size="0.02"
              rgba="0 0.7 0 1" /> -->

       <!--  <site name="goal_m1" pos="0.17 0.85 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m2" pos="-0.17 0.85 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m3" pos="0.17 0.45 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m4" pos="-0.17 0.45 0.02" size="0.02"
              rgba="1 0 0 1"/>

         <site name="goal_m5" pos="0.17 0.6 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m6" pos="-0.17 0.6 0.02" size="0.02"
              rgba="1 0 0 1"/> -->

       
    </worldbody>
    <!-- <sensor2
        <touch name='rightclaw_sensor' site='rightEndEffector'/>
        <touch name='leftclaw_sensor' site='leftEndEffector'/>
    </sensor> -->
    <actuator>
        <position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="2000"  user="1"/>
        <position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="2000"  user="1"/>
       
    </actuator>

</mujoco>
