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

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

        <body name="obj" pos="-0.12 0.7 0.04">
            <freejoint/>
            <include file="../objects/assets/objA.xml"/>
        </body>


        <body name="bin_start" pos="-0.12 0.7 0">
            <include file="../objects/assets/binA.xml"/>
        </body>

        <body name="bin_goal" pos="0.12 0.7 0">
            <include file="../objects/assets/binB.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>
