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

        <body name="door" pos="0 0.85 0.1">
                <!-- <joint name="doorjoint" pos="-.16 0 0" axis="0 0 1"
                       type="hinge" limited="true" range="-1.5708 0" damping="0.1" armature="0" /> -->
                <geom type="box" pos="0 0 0" size="0.15 0.01 0.1"
                      rgba=".1 .1 .9 1" contype="1" conaffinity="1" />
                <!-- <geom type="box" pos="-0.03 -0.02 0.07" size="0.03 0.01 0.005" rgba="1 0 0 1" contype="1" conaffinity="1" name="lock"/> -->
                <!-- <joint type="hinge" range="0 1.5708" axis="0 1 0" name="joint" pos="0 -0.01 0.07" damping="1" armature="0"/> -->
                <!--front, parallel to door-->
                <geom type="box" pos="0.13 -0.15 -0.05" size="0.02 0.01 0.01" rgba="0 0 0 1" contype="1" conaffinity="1" name="handle"/>
                <!--front-->
                <geom type="box" pos="0.14 -0.075 -0.05" size="0.01 0.075 0.01" rgba="0 0 0 1" contype="1" conaffinity="1"/>
                <!-- <site name="lockStart" pos="-0.06 -0.02 0.07" size="0.005" rgba="1 0 0 1"/> -->
        </body>

        <body name="lock" pos="0 0.85 0.1">
                <geom type="box" pos="0.05 -0.04 0.07" size="0.05 0.03 0.005" rgba="1 0 0 1" contype="1" conaffinity="1" name="lockGeom"/>
                <joint type="hinge" range="0 1.5708" axis="0 1 0" name="joint" pos="0 -0.01 0.07" damping="1" armature="0" limited="true"/>
                <site name="lockStartLock" pos="0.1 -0.04 0.075" size="0.005" rgba="1 1 1 1"/>
                <site name="lockStartUnlock" pos="0.1 -0.04 0.065" size="0.005" rgba="0 0 0 1"/>
        </body>
        <site name="goal_lock" pos="0.005 0.81 0.07" size="0.01" 
              rgba="0 0.8 0 1"/>
        <site name="goal_unlock" pos="0.1 0.81 0.165" size="0.01" 
              rgba="0 0 0.8 1"/>
    </worldbody>

    <!-- <actuator>
        <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor gear="100" joint="r_close" name="slide"/>
    </actuator> -->
    <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>
