<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>
        <!-- <body name="obj" pos="0 0.6 0.02">
            <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="objGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02 0.02" rgba="0 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4"
            />
        </body> -->
        <body name="obj" pos="0 0.6 0.015">
            <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <inertial pos="0 0 0" mass=".75" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/>
            <!-- <geom name="objGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02 0.02" rgba="0 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4"
            /> -->
            <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.03 0.015" rgba="1 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="wood"
            />
            <!-- <geom name="objGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02 0.02" rgba="0 0 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="2 0.1 0.002" condim="4"
            /> -->
           <!--  <site name="obj" pos="0 0 0" size="0.01" /> -->
        </body>

         <body name="wall" pos="0.1 0.75 0.05">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.005 0.05" name="wall" conaffinity="1" pos="0 0 0.005" mass="1000"/>
        </body>

        <!-- <site name="goal" pos="0.3 0.9 0.03" size="0.02"
              rgba="1 0.5 0.5 0"/> -->
        <!-- reach goal -->
        <site name="goal" pos="0.1 0.8 0.2" size="0.02"
              rgba="0 0 0.8 1"/>


    </worldbody>
    <!-- <sensor>
        <touch name='rightclaw_sensor' site='rightEndEffector'/>
        <touch name='leftclaw_sensor' site='leftEndEffector'/>
    </sensor> -->
    <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>
