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

        <!-- update object position -->
        <body name="door" pos="0.6 0.1 0.1">
            <joint name="doorjoint" pos="0 .16 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="0.01 0.15 0.1" rgba=".1 .1 .9 1" contype="1" conaffinity="1" material="light_wood"/>
            <!--front, parallel to door-->
            <geom type="box" pos="-0.15 -0.1 0.05" size="0.01 0.05 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle" material="light_wood"/>
            <!--front-->
            <geom type="box" pos="-0.075 -0.14 0.05" size="0.075 0.01 0.02" rgba="0 0 0 1" contype="1" conaffinity="1" material="light_wood"/>
        </body>

        <!-- update goal position -->
        <site name="goal" pos="0.35 0.4 0.15" size="0.02" rgba="0 0.8 0 1"/>
    </worldbody>

    <!-- <actuator>
        <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor gear="100" joint="r_close" name="slide"/>
    </actuator> -->
    <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>
