<?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=".01" armature="0"/>
            <!-- <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" /> -->
            <inertial pos="0 0 0" mass="0.05" diaginertia="8.80012e-05 8.80012e-05 8.80012e-05" />
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <geom name="objGeom" type="box" pos="0 0 0" margin="0.001"
                  size="0.02 0.02 0.02" rgba="0 0 1 1"
                  contype="1" conaffinity="1" condim="3" friction="2 0.1 0.002"
            />
            <!-- <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>

        <body name="goal" pos="0 0 0.1">
            <joint name="goaljoint" type="free" limited='false' damping=".01" armature="0"/>
            <!-- <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" /> -->
            <inertial pos="0 0 0" mass="0.05" diaginertia="8.80012e-05 8.80012e-05 8.80012e-05" />
            <!-- <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/> -->
            <geom name="goalGeom" type="box" pos="0 0 0" margin="0.001"
                  size="0.02 0.02 0.02" rgba="1 0 0 1"
                  contype="1" conaffinity="1" condim="3" friction="2 0.1 0.002"
            />

<!--             <joint name="goaljoint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="2" diaginertia="100000 100000 100000"/>
            <geom name="goalGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.02 0.02 0.02" rgba="1 0 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="1"
            />
 -->
        </body>
    </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>
