<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>

        <body name="handle" pos="-0.2 0.7 0.14">
          <inertial pos="0 0 0" mass="0.1" diaginertia="100000 100000 100000"/>
          <!-- <geom name="handle" fromto="0 -0.03 0 0 0.03 0" rgba="0.3 1 0.3 1" size="0.03 0.06" type="cylinder" solref="0.02 1" conaffinity="1" contype="1" group="1"/> -->
          <geom name="handle" type="box" pos="0 0 0" margin="0.001"
                  size="0.05 0.03 0.02" rgba="1 0 0 1"
                  contype="1" conaffinity="1"/>
          <joint type="slide" range="-0.12 0" axis="0 0 1" name="goal_slidez" pos="0 0 0" damping="1.0" limited="true"/>
          <site name="handleStart" pos="0.05 0 0.02" size="0.005" rgba="0.8 0 0 1"/>

        </body>

        <body name="box" pos="-0.3 0.7 0.05">
          <!-- <geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.1 0.05" name="box_bottom" 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="0.1 0.1 0.05" name="box_top" conaffinity="1" pos="0 0 0.16" 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="0.1 0.035 0.08" name="box_left" conaffinity="1" pos="0 0.065 0.08" 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="0.1 0.035 0.08" name="box_right" conaffinity="1" pos="0 -0.065 0.08" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <site name="goalPress" pos="-0.05 0 -0.01" size="0.005" rgba="1 1 1 1"/>
          <site name="goalPull" pos="-0.05 0 0.11" size="0.005" rgba="0 0 0 1"/>
        </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>
