<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>
        <body name="obj" pos="0 0 0.1">
            <joint name="objjoint" type="free" limited='false' damping="0" armature="0" />
            <inertial pos="0 0 0" mass="1" diaginertia="100000 100000 100000"/>
            <geom name="objbox" type="box" pos="0 0 0"
                  size=".025 .015 .015" rgba="0.0 0.0 1.0 0"
                  contype="6" conaffinity="6" friction="1.0 0.10 0.002" condim="4" mass=1.0, margin=0.0

                  />
        <body name="obj2" pos="0 0 0.01">
            <geom name="obj_T" type="box" pos="0 0 0"
                  size=".025 .017 .005" rgba="0.0 0.0 1.0 0"
                  contype="6" conaffinity="6" friction="1.0 0.10 0.002" condim="4" mass=1.0, margin=0.0
            />
        </body>

            <site name="obj" pos="0 .0 0" size="0.035" rgba="0.0 0.0 1.0 0"/>
        </body>

        <site name="hand-goal-site" pos="0 0 0" size="0.01"
              rgba="1 0.5 0.5 0.5"/>
        <site name="obj-goal-site" pos="0 0 0" size="0.01"
              rgba="0.5 0.5 1 0.5"/>
    </worldbody>
    <actuator>
        <motor gear="100" joint="rc_close"  />
    </actuator>
</mujoco>
