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

    <site name="goal" pos="0. 0.8 -0.06" size="0.02" 
              rgba="0 0 0.8 1"/>

    <geom name="tableTop" type="plane" pos="0 0.6 -0.1" size="0.4 0.4 0.5"
          rgba=".6 .6 .5 1" contype="15" conaffinity="15" />

    <body name="w1" pos="0.216 0.6 -0.05">
      <geom name="w1" rgba=".6 .6 .5 1" type="box" size="0.183 0.4 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w2" pos="-0.216 0.6 -0.05">
      <geom name="w2" rgba=".6 .6 .5 1" type="box" size="0.183 0.4 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w3" pos="0.0 0.916 -0.05">
      <geom name="w3" rgba=".6 .6 .5 1" type="box" size="0.032 0.084 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w4" pos="0.0 0.484 -0.05">
      <geom name="w4" rgba=".6 .6 .5 1" type="box" size="0.032 0.284 0.05" contype="15" conaffinity="15" />
    </body>

    <!-- <body name="g1" pos="0.034 0.4 -0.15" axisangle="0 1 0 0.05">
      <geom name="g1" rgba="1.0 0 1.0 1" type="box" size="0.003 0.01 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="g2" pos="-0.034 0.4 -0.15" axisangle="0 1 0 -0.05">
      <geom name="g2" rgba="1.0 0 1.0 1" type="box" size="0.003 0.01 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="g3" pos="0.0 0.434 -0.15" axisangle="1 0 0 -0.05">
      <geom name="g3" rgba="1.0 0 1.0 1" type="box" size="0.01 0.003 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="g4" pos="0.0 0.366 -0.15" axisangle="1 0 0 0.05">
      <geom name="g4" rgba="1.0 0 1.0 1" type="box" size="0.01 0.003 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="fl" pos="0.0 0.4 -0.23">
      <geom name="fl" rgba="1.0 0 1.0 1" type="box" size="0.2 0.2 0.05" contype="15" conaffinity="15" />
    </body> -->

    <!-- <body name="w1" pos="0.216 0.4 -0.13">
      <geom name="w1" rgba="1.0 0 1.0 1" type="box" size="0.183 0.3 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w2" pos="-0.216 0.4 -0.13">
      <geom name="w2" rgba="1.0 0 1.0 1" type="box" size="0.183 0.3 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w3" pos="0.0 0.616 -0.13">
      <geom name="w3" rgba="1.0 0 1.0 1" type="box" size="0.032 0.183 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w4" pos="0.0 0.184 -0.13">
      <geom name="w4" rgba="1.0 0 1.0 1" type="box" size="0.032 0.183 0.05" contype="15" conaffinity="15" />
    </body> -->


  </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>
