


<mujoco>
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/soccer_dependencies.xml"/>
    <include file="../objects/assets/xyz_base_dependencies.xml"/>

    <worldbody>
      <include file="../objects/assets/xyz_base.xml"/>

      <body name="soccer_ball" pos="0 0.6 0.03">
        <freejoint/>
        <include file="../objects/assets/soccer_ball.xml"/>
      </body>

       <body name="goal_whole" pos="0. 0.9 0">
         <include file="../objects/assets/soccer_goal.xml"/>

      </body>

      <site name="goal" pos="0. 0.9 0.02" size="0.02"
            rgba="0 0.8 0 1"/>
    </worldbody>

    <actuator>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j0" name="torq_right_j0"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j1" name="torq_right_j1"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j2" name="torq_right_j2"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j3" name="torq_right_j3"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j4" name="torq_right_j4"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j5" name="torq_right_j5"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j6" name="torq_right_j6"/>
      <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>
