<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<include file="shared_config.xml"></include>
	<worldbody>
		<include file="sawyer_xyz_base_pusher.xml"></include>
        <body name="puck" pos="0 0 .1">
            <joint name="puckjoint" type="free" limited='false' damping="1" armature="0" />
            <inertial pos="0 0 0" mass=".1" diaginertia=".1 .1 .1"/>
                <geom name="puckbox" 
                  mesh="mug_mesh" 
                  conaffinity="2" 
                  contype="2" 
                  friction=".1 .005 .0001"
                  density="1384.7" 
                  type="mesh" 
                  material="navy_blue" 
                  rgba="1 1 1 1"/>

            <site name="puck" pos="0 0 0" size="0.01" rgba="0 0 0 0"/>
        </body>

        <site name="hand-goal-site" pos="0 0 0" size="0.01" rgba="0 0 0 0"/>
    
        <body name="goal" pos="0 0 0.1">
            <joint name="goaljoint" type="free" limited='false' damping="0" armature="0" />
            <geom name="goalbox" type="box" pos="0 0 0" size="0.04 0.04 0.001"
                  rgba=".5 .5 .5 1" contype="0" conaffinity="8" material="marble"/>
            <site name="puck-goal-site" pos="0 0 0" size="0.01" rgba="0 0 0 0"/>
        </body>

	</worldbody>
    <actuator>
        <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
       <motor gear="100" joint="rc_close"  />
    </actuator>
</mujoco>
