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

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

      <body name="box" pos="0 0.88 0">
        <include file="../objects/assets/handle_press.xml"/>

        <site name="goalPress" pos="0 -0.216 0.075" size="0.005" rgba="1 1 1 1"/>
        <site name="goalPull" pos="0 -0.216 0.172" size="0.005" rgba="0 0 0 1"/>
      </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>
