<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="shared_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base.xml"></include>
        <body name="hammer" pos="0 0.6 0.02">
          <inertial pos="0 0 0" mass="1" diaginertia="100000 100000 100000"/>
          <geom name="hammerHandle" fromto="-0.1 0 0 0.1 0 0" rgba="1 0.3 0.3 1" size="0.02 0.1" type="cylinder" solimp="0.998 0.998 0.001" solref="0.02 1" conaffinity="1" contype="1" group="1"/>
          <geom name="hammerHead" rgba="1 0.3 0.3 1" pos="0.12 0 0" size="0.02 0.04 0.02" type="box" solimp="0.998 0.998 0.001" solref="0.02 1" conaffinity="1" contype="1" group="1"/>
          <!-- <geom name="hammerHandle" fromto="-0.1 0 0 0.1 0 0" rgba="1 0.3 0.3 1" size="0.02 0.1" type="cylinder" conaffinity="1" contype="1" group="1"/>
          <geom name="hammerHead" rgba="1 0.3 0.3 1" pos="0.12 0 0" size="0.02 0.04 0.02" type="box" conaffinity="1" contype="1" group="1"/> -->
          <joint type="free" limited='false' damping="0.0005"/>
        </body>

        <body name="screw" pos="0.24 0.71 0.11">
          <inertial pos="0 0 0" mass="1" diaginertia="100000 100000 100000"/>
          <geom name="screwHandle" fromto="0 -0.05 0 0 0.05 0" rgba="0.3 1 0.3 1" size="0.01 0.1" type="cylinder" solref="0.02 1" conaffinity="1" contype="1" group="1"/>
          <geom name="screwHead" fromto="0 -0.06 0 0 -0.05 0" rgba="0.3 1 0.3 1" size="0.03 0.01" type="cylinder" solimp="0.998 0.998 0.001" solref="0.02 1" conaffinity="1" contype="1" group="1"/>
          <joint type="slide" range="0 0.1" axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
          <site name="screwHead" pos="0 -0.06 0" size="0.005" rgba="0.8 0 0 1"/>
        </body>

        <body name="box" pos="0.24 0.85 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 0.12" 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="0.045 0.1 0.01" name="box_left" conaffinity="1" pos="0.055 0 0.06" 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="0.045 0.1 0.01" name="box_right" conaffinity="1" pos="-0.055 0 0.06" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
          <site name="goal" pos="0 -0.11 0.06" size="0.005" rgba="0 0.8 0 1"/>
          <!-- <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/> -->
        </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>
