<mujoco>
  <include file="../scene/basic_scene.xml"/>
  <include file="../objects/assets/buttonbox_dependencies.xml"/>
  <include file="../objects/assets/wall_dependencies.xml"/>

    <!-- franka files -->
    <include file="../franka_reach/third_party/franka/assets/assets.xml"/>
    <include file="../franka_reach/third_party/franka/assets/actuator0.xml"/>

    <compiler inertiafromgeom='auto' inertiagrouprange='3 5' angle="radian"/>

    <worldbody>
      <camera pos="0 0.5 1.5" name="topview" />
      <camera name="corner" mode="fixed" pos="-1.1 -0.4 0.6" xyaxes="1 -1 0 0.2 0.2 1"/>
      <camera name="corner2" fovy="60" mode="fixed" pos="1.3 -0.2 1.1" euler="3.9 2.3 3.74"/>
      <camera name="corner3" fovy="45" mode="fixed" pos="0.9 0 1.5" euler="3.5 2.7 4.14"/>

      <body pos='0 0 0' euler='0 0 1.57'>
          <geom type='cylinder' size='0.18 .90' pos='-.04 0 -0.90' class='panda_viz'/>
          <include file="../franka_reach/third_party/franka/assets/chain0.xml"/>
      </body>

      <body name="mocap" mocap="true" pos="0 0 1.09" euler="-1.57 0 -.785">
        <site name="mocap" pos="0 0 0" rgba="0.0 0.5 0.5 0" size="0.05" type="sphere"></site>
      </body>
    </worldbody>
    <!-- franka files -->

    <worldbody>
        <body name="box" euler="-1.57 0 0" pos="0 0.85 0.12">
          <include file="../objects/assets/buttonbox.xml"/>
          <site name="buttonStart" pos="0 -0.1935 0" size="0.005" rgba="0 0.8 0 1"/>
          <site name="hole" pos="0 -0.1 0" size="0.005" rgba="0 0.8 0 1"/>
        </body>
        <body name="wall" pos="0.1 0.7 0">
          <include file="../objects/assets/wall.xml"/>
        </body>
    </worldbody>

    <equality>
        <weld body1="mocap" body2="hand" solref="0.008 1"></weld>
    </equality>
</mujoco>
