<mujoco>
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/drawer_dependencies.xml"/>
    <include file="../objects/assets/xyz_base_dependencies.xml"/>
    <worldbody>
        <include file="../objects/assets/xyz_base.xml"/>

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

        <site name="goal" pos="0. 0.74 0.05" size="0.02"
              rgba="0 0.8 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>
    <equality>
        <weld body1="mocap" body2="hand" solref="0.02 1"></weld>
    </equality>

</mujoco>
