<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/coffeemachine_dependencies.xml"/>
    <include file="../objects/assets/xyz_base_dependencies.xml"/>

    <worldbody>

        <body name="obj" pos="0 0.6 0.1">
          <joint type="free"/>
          <include file="../objects/assets/mug.xml"/>
        </body>
        <include file="../objects/assets/xyz_base.xml"/>

        <body name="coffee_machine" pos="0 .9 0">
          <include file="../objects/assets/coffeemachine.xml"/>
        </body>
        <site name="mug_goal" pos="0 0.6 0.02" size="0.01" rgba="0 1 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>
