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

      <!--   <camera name="door_overhead" pos="0.0 0.8 1.5" euler="0 0 3.14159" /> -->

       <!--  <camera name="door_diff" pos="0.2 -0.4 1.2" euler="0.78 0 0" /> -->
        <camera name="angled_cam" pos="-0.9 0.5 0.5" quat=' 1.345 0.8988 -0.6529 -0.977' />
        
        

       <!--  <body name="cabinet" pos="0 1.2 0.2" euler='0 0 -1.57'> -->


        <!--
            <geom type="box" pos="0 0 0" size="0.2 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
        

       
            <geom type="box" pos="-0.2 0 0.2" size="0.01 0.2 0.2" contype="1" conaffinity="1"/>
            <geom type="box" pos="0 0.2 0.2" size="0.2 0.01 0.2"  contype="1" conaffinity="1"/>
            <geom type="box" pos="0 -0.2 0.2" size="0.2 0.01 0.2" contype="1" conaffinity="1"/>
            <geom type="box" pos="0 0 0.4" size="0.2 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
            <geom type="box" pos="0 0 0.2" size="0.2 0.2 0.01" rgba="1 0 0 1" contype="1" conaffinity="1"/>
        /-->
        <body name="door" pos="0 1.0 0.3"  euler='0 0 -1.57'>
            <joint name="doorjoint" pos="0 0.2 0" axis="0 0 1" type="hinge" limited="true" range="-3 3" damping="100" armature="0" />
            <geom type="box" name='doorPlane' pos="0 0 0" size="0.01 0.2 0.2"  contype="1" conaffinity="1" material="wood_106"/>
            <geom type="box" name='doorHandle1' pos="0.05 -0.2 0" size="0.06 0.01 0.01" rgba=".75 .75 .75 1" contype="1" conaffinity="1"/>
            <geom type="box" name='doorHandle2' pos="0.1 -0.1 0" size="0.01 0.1 0.01" rgba=".75 .75 .75 1" contype="1" conaffinity="1"/>
            <site name="doorGraspPoint" pos="0.1 -0.1 0" size="0.02" rgba="1 0 0 1"/>
        </body>

      <!--   </body> -->

        <site name="goal" pos="0 0.8 0.3" size="0.02"
          rgba="0 0.7 0 1"/>


      
       
    </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>
