<?xml version="1.0" encoding="utf-8"?>
<mujoco>
  <include file="shared_config.xml"></include>
  <worldbody>
    <include file="sawyer_xyz_base_no_table.xml"></include>
        <geom name="tableTop" type="plane" pos="0 0.55 0" size="0.4 0.35 0.5"
          rgba=".6 .6 .5 1" contype="15" conaffinity="15" />
        <body name="club" pos="0 0.6 0.02">
            <joint name="clubjoint" type="free" limited='false' damping="0.0" armature="0" />
            <inertial pos="0 0 0.04" mass="0.01" diaginertia="100000 100000 100000"/>
            <geom name="handle" type="box" pos="0 0 0.08" solimp="0.99 0.99 0.01"
                  size="0.01 0.01 0.06" rgba="0 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" 
            />
            <geom name="clubHead" type="box" pos="-0.02 0.01 0"
                  size="0.03 0.02 0.02" rgba="0 0 1 1"
                  contype="1" conaffinity="1" friction="2 0.1 0.002" condim="4" 
            />
            <!-- <geom name="clubHead" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.03 0.005 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="handleStart" pos="0 0 0.1" size="0.01" />
        </body>

        <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="sphere" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="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="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>

        <site name="goal" pos="0. 0.95 -0.3" size="0.02" 
              rgba="0 0 0.8 1"/>

  </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>
