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

        <body name="plate" pos="0. 0.6 0.015">
            <!-- <inertial pos="0 0 0" mass=".75" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/> -->
            <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
                  size="0.05 0.015" solref="0.01 1" contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="marble"
            />
            <joint type="slide" range="-0.3 0.3" axis="1 0 0" name="goal_slidex" pos="0 0 0" damping="1.0" limited="true"/>
            <joint type="slide" range="0. 0.3" axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0" limited="true"/>
        </body>
        <body name="cabinet" pos="-0.25 0.6 0.02">
          <geom type="box" contype="1" size="0.06 0.06 0.001" name="cover_top" conaffinity="1" pos="0 0 0.1" mass="1000" material="light_wood_v2"/>
          <!-- <geom type="box" contype="1" size="0.12 0.12 0.001" name="cover_bottom" conaffinity="1" pos="0 0 0.005" mass="1000"/> -->
          <geom type="box" solimp="0.99 0.99 0.01" contype="1" size="0.001 0.06 0.05" name="cover_wall1" conaffinity="1" pos="-0.06 0 0.05" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <!-- <geom type="box" solimp="0.99 0.99 0.01" contype="1" size="0.1 0.001 0.03" name="cover_wall2" conaffinity="1" pos="0.0 -0.1 0.034" mass="1000" solref="0.01 1"/> -->
          <geom type="box" solimp="0.99 0.99 0.01" contype="1" size="0.06 0.001 0.05" name="cover_wall3" conaffinity="1" pos="0 0.06 0.052" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom type="box" solimp="0.99 0.99 0.01" contype="1" size="0.06 0.001 0.05" name="cover_wall4" conaffinity="1" pos="0 -0.061 0.052" mass="1000" solref="0.01 1" material="light_wood_v2"/>
          <geom type="capsule" fromto="0.063 0.063 0.0075 0.063 0.063 0.12" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom type="capsule" fromto="0.063 -0.063 0.0075 0.063 -0.063 0.12" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom type="capsule" fromto="-0.063 0.063 0.0075 -0.063 0.063 0.12" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <geom type="capsule" fromto="-0.063 -0.063 0.0075 -0.063 -0.063 0.12" contype="2" size="0.005" conaffinity="2" material="light_wood_v2"/>
          <!-- <joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/> -->
        </body>
        <site name="goal" pos="0 0.6 0.015" size="0.015" 
              rgba="0.8 0 0 1"/>
    </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>
