<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>
        <body name="obj0" pos="0 0.6 0.05">
<!--             <joint name="objjoint0" type="free" limited='false' damping="1.0" armature="0" /> -->
            <geom name="objGeom0" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.06 0.06 0.06" rgba="0.0 1.0 0.0 1" solref="0.01 1"
                  contype="1" conaffinity="1" condim="4" 
            />
            <joint name="objGeom0_x" type="slide" pos="0 0 0" axis="1 0 0" range="-0.3 0.3" damping="0.00001"/>
            <joint name="objGeom0_y" type="slide" pos="0 0 0" axis="0 1 0" range="-0.3 0.3" damping="0.00001"/>
            <inertial pos="0 0 0" mass="0.000001" diaginertia="0.001 0.001 0.001"/>
        </body>

        <body name="obj1" pos="0 0.6 0.05">
<!--             <joint name="objjoint0" type="free" limited='false' damping="1.0" armature="0" /> -->
            <geom name="objGeom1" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.06 0.06 0.06" rgba="0 1 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" condim="4" 
            />
            <joint name="objGeom1_x" type="slide" pos="0 0 0" axis="1 0 0" range="-0.3 0.3" damping="0.00001"/>
            <joint name="objGeom1_y" type="slide" pos="0 0 0" axis="0 1 0" range="-0.3 0.3" damping="0.00001"/>
            <inertial pos="0 0 0" mass="0.000001" diaginertia="0.001 0.001 0.001"/>
        </body>
      
      <body name="obj2" pos="0 0.6 0.05">
<!--             <joint name="objjoint0" type="free" limited='false' damping="1.0" armature="0" /> -->
            <geom name="objGeom2" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.06 0.06 0.06" rgba="0 0.0 1 1" solref="0.01 1"
                  contype="1" conaffinity="1" condim="4" 
            />
            <joint name="objGeom2_x" type="slide" pos="0 0 0" axis="1 0 0" range="-0.3 0.3" damping="0.00001"/>
            <joint name="objGeom2_y" type="slide" pos="0 0 0" axis="0 1 0" range="-0.3 0.3" damping="0.00001"/>
            <inertial pos="0 0 0" mass="0.000001" diaginertia="0.001 0.001 0.001"/>
        </body>
      <camera mode="fixed" name="agentview" pos="-0.0 1 1." quat="0.924 -0.183 0 0"/>
       
    </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>
