<?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"
                  type="cylinder"
                  pos="0 0 0"
                  size="0.07 0.02"
                  rgba=".1 .1 .9 1"
                  contype="2"
                  conaffinity="2"
                  friction=".1 .005 .0001"
            />
            <site name="puck" pos="0 0 0" size="0.01" />
        </body>

        <body name="arena" pos="0 .6 0">
            <geom name="arena base" type="box" pos="0 0.0 0" size="0.3 0.3 0.01"
          rgba=".6 .6 .5 1" contype="2" conaffinity="2" friction=".1 .005 .0001"/>
            <geom name="arena side 1" type="box" pos="-.3 0.0 0.025" size="0.2 0.5 0.01"
          rgba=".6 .6 .5 1" contype="2" conaffinity="2"  euler="0 .707 0" friction=".1 .005 .0001"/>
            <geom name="arena side 2" type="box" pos=".3 0.0 0.025" size="0.2 0.5 0.01"
          rgba=".6 .6 .5 1" contype="2" conaffinity="2"  euler="0 -.707 0" friction=".1 .005 .0001"/>
            <geom name="arena side 3" type="box" pos=".0 0.3 0.025" size="0.5 0.2 0.01"
          rgba=".6 .6 .5 1" contype="2" conaffinity="2"  euler=".707 0 0" friction=".1 .005 .0001"/>
            <geom name="arena side 4" type="box" pos=".0 -0.3 0.025" size="0.5 0.2 0.01"
          rgba=".6 .6 .5 1" contype="2" conaffinity="2"  euler="-.707 0 0" friction=".1 .005 .0001"/>
        </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 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>
