<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<!-- update config file -->
  <include file="shared_config_kuka.xml"></include>
  <worldbody>
  <!-- update base configuration file -->
    <include file="sawyer_xyz_base_no_table_kuka.xml"></include>
    <!-- update position -->
        <body name="obj" pos="0.45 0 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 0 1" solref="0.01 1"
                  contype="1" conaffinity="1" friction="0.1 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>

        <!-- update position -->
        <site name="goal" pos="0.74 0. 0.02" size="0.02" 
              rgba="0 0 0.8 1"/>

    <!-- update position -->
    <geom name="tableTop" type="plane" pos="0.6 0 -0.1" size="0.4 0.4 0.5"
          rgba=".6 .6 .5 1" contype="15" conaffinity="15"  material="light_wood_v3"/>

    <!-- update position -->
    <body name="w1" pos="0.6 0.24 -0.05">
      <geom name="w1" type="box" size="0.4 0.16 0.05" rgba="1 0 0 1" contype="15" conaffinity="15"  material="light_wood_v3"/>
    </body>

    <!-- update position -->
    <body name="w2" pos="0.6 -0.24 -0.05">
      <geom name="w2" type="box" size="0.4 0.16 0.05" rgba="0 1 0 1" contype="15" conaffinity="15"  material="light_wood_v3"/>
    </body>

    <!-- update position -->
    <body name="w3" pos="0.92 0.0 -0.05">
      <geom name="w3" type="box" size="0.08 0.08 0.05" rgba="0 0 1 1" contype="15" conaffinity="15"  material="light_wood_v3"/>
    </body>

    <!-- update position -->
    <body name="w4" pos="0.44 0.0 -0.05">
      <geom name="w4" type="box" size="0.24 0.08 0.05" rgba="1 1 1 1" contype="15" conaffinity="15"  material="light_wood_v3"/>
    </body>

    <!-- <body name="g1" pos="0.034 0.4 -0.15" axisangle="0 1 0 0.05">
      <geom name="g1" rgba="1.0 0 1.0 1" type="box" size="0.003 0.01 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="g2" pos="-0.034 0.4 -0.15" axisangle="0 1 0 -0.05">
      <geom name="g2" rgba="1.0 0 1.0 1" type="box" size="0.003 0.01 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="g3" pos="0.0 0.434 -0.15" axisangle="1 0 0 -0.05">
      <geom name="g3" rgba="1.0 0 1.0 1" type="box" size="0.01 0.003 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="g4" pos="0.0 0.366 -0.15" axisangle="1 0 0 0.05">
      <geom name="g4" rgba="1.0 0 1.0 1" type="box" size="0.01 0.003 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="fl" pos="0.0 0.4 -0.23">
      <geom name="fl" rgba="1.0 0 1.0 1" type="box" size="0.2 0.2 0.05" contype="15" conaffinity="15" />
    </body> -->

    <!-- <body name="w1" pos="0.216 0.4 -0.13">
      <geom name="w1" rgba="1.0 0 1.0 1" type="box" size="0.183 0.3 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w2" pos="-0.216 0.4 -0.13">
      <geom name="w2" rgba="1.0 0 1.0 1" type="box" size="0.183 0.3 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w3" pos="0.0 0.616 -0.13">
      <geom name="w3" rgba="1.0 0 1.0 1" type="box" size="0.032 0.183 0.05" contype="15" conaffinity="15" />
    </body>

    <body name="w4" pos="0.0 0.184 -0.13">
      <geom name="w4" rgba="1.0 0 1.0 1" type="box" size="0.032 0.183 0.05" contype="15" conaffinity="15" />
    </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>