<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="ur3_shared_config.xml"></include>
    <worldbody>
        <include file="ur3_dual_xyz_base.xml"></include>
        <body name="obj" pos="0 0.6 0.02">
            <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 0 1 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="hand-goal-site" pos="0.3 1. 0.03" size="0.02"
              rgba="0 0 1 1"/>
        <site name="obj-goal-site" pos="0.3 0.9 0.03" size="0.02"
              rgba="1 0 0 1"/-->
        <site name="goal" pos="0.3 0.9 0.05" size="0.02" 
              rgba="0 0.8 0 1"/>

        <!-- <site name="goalSpace" pos="0 0.75 0.02" size="0.02"
              rgba="0 0.7 0 1" /> -->

       <!--  <site name="goal_m1" pos="0.17 0.85 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m2" pos="-0.17 0.85 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m3" pos="0.17 0.45 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m4" pos="-0.17 0.45 0.02" size="0.02"
              rgba="1 0 0 1"/>

         <site name="goal_m5" pos="0.17 0.6 0.02" size="0.02"
              rgba="1 0 0 1"/>

        <site name="goal_m6" pos="-0.17 0.6 0.02" size="0.02"
              rgba="1 0 0 1"/> -->

       
    </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"/-->
        
        <position name="close_r" joint="joint7_1" ctrllimited="true" ctrlrange="-1 1" kp="3"/>
        <position name="close_l" joint="joint7_2" ctrllimited="true" ctrlrange="-1 1" kp="3"/>
    </actuator>
</mujoco>
