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

        <body name="door" pos="0.1 0.85 0.1">
                <joint name="doorjoint" pos="-.16 0 0" axis="0 0 1"
                       type="hinge" limited="true" range="-1.5708 0" damping="0.1" armature="0" />
                <geom type="box" pos="0 0 0" size="0.15 0.01 0.1"
                      rgba=".1 .1 .9 1" contype="1" conaffinity="1" material="light_wood"/>
                <!--front, parallel to door-->
                <geom type="box" pos="0.1 -0.15 0.05" size="0.05 0.01 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle" material="light_wood"/>
                <!--front-->
                <geom type="box" pos="0.14 -0.075 0.05" size="0.01 0.075 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood"/>
        </body>
        <site name="goal" pos="-0.2 0.6 0.15" size="0.02"
              rgba="0 0.8 0 1"/>
    </worldbody>



    <actuator>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j0" name="torq_right_j0"/>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j1" name="torq_right_j1"/>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j2" name="torq_right_j2"/>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j3" name="torq_right_j3"/>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j4" name="torq_right_j4"/>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j5" name="torq_right_j5"/>
        <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j6" name="torq_right_j6"/>
        <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>
