<?xml version="1.0" encoding="utf-8"?>
<mujoco>
  <!-- update config -->
  <include file="shared_config_kuka.xml"></include>
  <worldbody>
    <!-- update base -->
    <include file="sawyer_xyz_base_kuka.xml"></include>

    <!-- update position -->
    <body name="lever" pos="0.55 0 .05">
      <!-- <inertial pos="0 0 0" mass="1." diaginertia="8.80012e-0 8.80012e-0 8.80012e-0"/> -->
      <geom name="lever" size=".03 .1 .03" type="box" margin="0.001" contype="1" conaffinity="1" condim="3" friction="1 0.1 0.002" material="wood"/>
      <joint type="hinge" range="0 1.5708" axis="1 0 0" name="joint" pos=".07 0 0" damping="1" armature="0" limited="true"/>
      <site name="leverStart" pos="-0.1 0 0.03" size="0.005" rgba="1 0 0 1"/>
    </body>

    <!-- todo: update position -->
    <site name="goal" pos="0.75 0. 0.2" size="0.02" rgba=".8 0 0 1"/>

    <!--         <body name="box" pos="0 0.8 0.05">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_left" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_right" conaffinity="1" pos="0 0.16 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_front" conaffinity="1" pos="0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_behind" conaffinity="1" pos="-0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
        </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>