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

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



        <body name="box" pos="0 0.9 0.12">
          <include file="../objects/assets/buttonbox.xml"/>
          <site name="hole" pos="0 -0.1 0" size="0.005" rgba="0 0.8 0 1"/>
        </body>
        <body name="wall" pos="0.1 0.5 0">
          <include file="../objects/assets/wall.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"/>
    </equality>
</mujoco>
