<?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="-0.12 0.65 0.04">
            <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
            <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
            <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 1 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4"
            />
            <!-- <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>
        <site name="mark1" pos="-0.2 0 0" size="0.02" rgba="1 0 0 1"/>

        <body name="bin_start" pos="-0.12 0.7 0.02">
          <geom rgba="1 0.3 0.3 1" type="box" contype="1" size="0.1 0.1 0.001" name="start_bottom" conaffinity="1" pos="0 0 0.005" mass="1000"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="start_wall1" conaffinity="1" pos="0.0 0.1 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="start_wall2" conaffinity="1" pos="0.0 -0.1 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.03" name="start_wall3" conaffinity="1" pos="0.1 0 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.03" name="start_wall4" conaffinity="1" pos="-0.101 0 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.098 0.098 0.0075 0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="0.098 -0.098 0.0075 0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.098 0.098 0.0075 -0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="1 0.3 0.3 1" type="capsule" fromto="-0.098 -0.098 0.0075 -0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <!-- <joint type="slide" range="-10.3213 10.3" axis="1 0 0" name="goal_slidex" pos="0 0 0" damping="1.0"/> -->
        </body>

        <body name="bin_goal" pos="0.12 0.7 0.02">
          <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.1 0.001" name="goal_bottom" conaffinity="1" pos="0 0 0.005" mass="1000" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="goal_wall1" conaffinity="1" pos="0.0 0.1 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="goal_wall2" conaffinity="1" pos="0.0 -0.1 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.03" name="goal_wall3" conaffinity="1" pos="0.1 0 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.1 0.03" name="goal_wall4" conaffinity="1" pos="-0.101 0 0.034" mass="1000" solref="0.01 1"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="0.098 0.098 0.0075 0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="0.098 -0.098 0.0075 0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="-0.098 0.098 0.0075 -0.098 0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <geom rgba="0.3 0.3 1 1" type="capsule" fromto="-0.098 -0.098 0.0075 -0.098 -0.098 0.06" contype="1" size="0.005" conaffinity="1"/>
          <!-- <joint type="slide" range="-10.3213 10.3" axis="1 0 0" name="goal_slidex" pos="0 0 0" damping="1.0"/> -->
        </body>


    </worldbody>
    <!-- <sensor>
        <touch name='rightclaw_sensor' site='rightEndEffector'/>
        <touch name='leftclaw_sensor' site='leftEndEffector'/>
    </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>
