<?xml version="1.0" encoding="utf-8"?>
<mujoco>
	<include file="shared_config.xml"></include>
	<worldbody>
		<include file="sawyer_xyz_base.xml"></include>
        <body name="puck" pos="0 0 0">
            <joint name="puckjoint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="500" diaginertia="1000 1000 1000"/>
            <geom name="puckbox"
                  type="cylinder"
                  pos="0 0 0"
                  size="0.04 0.015"
                  rgba=".1 .1 .9 1"
                  contype="2"
                  conaffinity="4"
            />
            <site name="puck" pos="0 0 0" size="0.01" />
        </body>

        <site name="hand-goal-site" pos="0 0 0" size="0.01"
              rgba="1 0.5 0.5 0.5"/>
        <site name="puck-goal-site" pos="0 0 0" size="0.01"
              rgba="0.5 0.5 1 0.5"/>
	</worldbody>
    <actuator>
       <motor gear="100" joint="rc_close"  />
    </actuator>
</mujoco>
