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

    <worldbody>
        <include file="sawyer_xyz_base.xml"/>
        <body name="object0" pos="0 0.7 0">
            <joint limited="false" type="free"/>
            <geom conaffinity="0" contype="0" mass="0.014285714285714287" mesh="Elephant_mesh" rgba="0.6515932959566362 0.8500293277142719 0.8590998779439367 1" type="mesh"/>
            <geom conaffinity="7" contype="7" friction="1 0.1 0.1" mass="0.014285714285714287" mesh="Elephant_convex_mesh0" rgba="0 1 0 0" type="mesh"/>
            <geom conaffinity="7" contype="7" friction="1 0.1 0.1" mass="0.014285714285714287" mesh="Elephant_convex_mesh1" rgba="0 1 0 0" type="mesh"/>
            <geom conaffinity="7" contype="7" friction="1 0.1 0.1" mass="0.014285714285714287" mesh="Elephant_convex_mesh2" rgba="0 1 0 0" type="mesh"/>
            <geom conaffinity="7" contype="7" friction="1 0.1 0.1" mass="0.014285714285714287" mesh="Elephant_convex_mesh3" rgba="0 1 0 0" type="mesh"/>
            <geom conaffinity="7" contype="7" friction="1 0.1 0.1" mass="0.014285714285714287" mesh="Elephant_convex_mesh4" rgba="0 1 0 0" type="mesh"/>
            <geom conaffinity="7" contype="7" friction="1 0.1 0.1" mass="0.014285714285714287" mesh="Elephant_convex_mesh5" rgba="0 1 0 0" type="mesh"/>

            <site name="obj" pos="0 0 0" size= '0.01 0.01 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>
    <asset>
        <mesh file="Elephant/Elephant.stl" name="Elephant_mesh" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
        <mesh file="Elephant/Shape_IndexedFaceSet_001.stl" name="Elephant_convex_mesh0" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
        <mesh file="Elephant/Shape_IndexedFaceSet_005.stl" name="Elephant_convex_mesh1" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
        <mesh file="Elephant/Shape_IndexedFaceSet.stl" name="Elephant_convex_mesh2" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
        <mesh file="Elephant/Shape_IndexedFaceSet_004.stl" name="Elephant_convex_mesh3" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
        <mesh file="Elephant/Shape_IndexedFaceSet_003.stl" name="Elephant_convex_mesh4" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
        <mesh file="Elephant/Shape_IndexedFaceSet_002.stl" name="Elephant_convex_mesh5" scale="0.0062182497888854105 0.0062182497888854105 0.004663687341664058"/>
    </asset>
    <sensor>
        <framepos name="object0_sensor" objname="object0" objtype="body"/>
    </sensor>

    <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>

