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

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


        <body name="obj" pos="0 0.6 0.02">
            <freejoint/>
            <geom class="shelf_viz" rgba="0 0 1 1" type="box" size="0.02 0.02 0.02"/>

          <geom class="block_col" type="box" size="0.02 0.02 0.02" mass=".1"/>
        </body>

        <body name="shelf" pos="0 .8 0">
            <include file="../objects/assets/shelf.xml"/>
        </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>
    <equality>
        <weld body1="mocap" body2="hand" solref="0.02 1"></weld>
    </equality>
</mujoco>
