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

        <body name="laptop" pos="0 0.8 0.15">
                <joint name="laptopjoint" pos="0 -0.005 -0.1" axis="1 0 0"
                       type="hinge" limited="true" range="0 1.5708" damping="0.1" armature="0" />
                <!--laptop cover-->
                <inertial pos="0 0 0" mass=".001" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/>
                
                <geom name="laptopCover" type="box" pos="0 0 0" size="0.2 0.01 0.1" rgba="0.75 0.75 0.75 1" contype="1" conaffinity="1" />
                <!-- <geom name="laptopBase" type="box" pos="0 -0.11 -0.11" size="0.2 0.1 0.01"
                      rgba=".75 .75 .75 1" contype="2" conaffinity="2"/> -->
                <site rgba="1 0 0 1" size="0.002 0.002 0.002" pos="0 0 0.1" type="sphere" name="laptopCoverTop"/>
        </body>
        <body name="laptopBase" pos="0 0.69 0.01">
                <geom name="laptopBase" type="box" pos="0 0 0" size="0.2 0.1 0.01"
                      rgba=".75 .75 .75 1" contype="1" conaffinity="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>
