<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>

        
        <body name="obj" pos="0 0.6 0.02">
            <joint name="objjoint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass=".1" diaginertia="100000 100000 100000"/>
            <geom name="objbox" type="box" pos="0 0 0"
                  size="0.02 0.02 0.02" rgba="0 0.5 1 1"
                  contype="7" conaffinity="7" friction="10.0 0.10 0.002" condim="4" mass=".1"
            />
            <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 0.5"/>
       
    </worldbody>
    <actuator>
        <position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="100"  user="1"/>
        <position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="100"  user="1"/>
        
    </actuator>
</mujoco>
