<?xml version="1.0" encoding="utf-8"?>
<mujoco>
  <!-- update config -->
  <include file="shared_config_kuka.xml"></include>
  <worldbody>
    <!-- update base -->
    <include file="sawyer_xyz_base_kuka.xml"></include>

    <!-- update position (swap x and y values of both size and pos props) -->
    <body name="button" pos="0.53 0 0.12">
      <inertial pos="0 0 0" mass="0.1" diaginertia="100000 100000 100000"/>
      <geom name="button" fromto="0 0 -0.03 0 0 0.03" rgba="0.3 1 0.3 1" size="0.03 0.06" type="cylinder" solref="0.02 1" conaffinity="1" contype="1" group="1"/>
      <joint type="slide" range="-0.05 0" axis="0 0 1" name="goal_slidey" pos="0 0 0" damping="1.0" limited="true"/>
      <site name="buttonStart" pos="0 0 0.03" size="0.005" rgba="0 0 1 1"/>
    </body>

    <!-- update position (swap x and y values of both size and pos props) -->
    <body name="box" pos="0.45 0 0.05">
      <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.05 0.1 0.05" name="box_left" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
      <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.05 0.1 0.05" name="box_right" conaffinity="1" pos="0.16 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
      <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.03 0.035 0.05" name="box_front" conaffinity="1" pos="0.08 0.065 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
      <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.03 0.035 0.05" name="box_behind" conaffinity="1" pos="0.08 -0.065 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
      <site name="hole" pos="0.08 0 0.05" size="0.005" rgba="1 0 0 1"/>
      <!-- <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/> -->
    </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>
