<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <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 0.6" euler="-0.78 0.0 3.14159" /> -->

        <camera name="robotview_zoomed" pos="0.0 1.3 0.5" euler="-0.78 0.0 3.14159" />
        
        <include file="sawyer_xyz_base.xml"></include>
        
        <body name="obj1" pos="-0.1 0.6 0.02">
            <joint name="obj1joint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="obj1Geom" type="box" pos="0 0 0"
                  size="0.02 0.02 0.02" 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="obj2" pos="0.1 0.6 0.02">
            <joint name="obj2joint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="obj2Geom" type="box" pos="0 0 0"
                  size="0.02 0.02 0.02" 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>


        <site name="goal" pos="0.3 0.9 0.02" size="0.02"
              rgba="1 0.5 0.5 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>

    <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>
