<mujoco>
  <include file="../scene/basic_scene.xml"/>
  <include file="../objects/assets/dial_dependencies.xml"/>
  <include file="../objects/assets/xyz_base_dependencies.xml"/>
  <worldbody>
    <include file="../objects/assets/xyz_base.xml"/>

        <body name="dial" pos="0 0.7 0.">
          <include file="../objects/assets/dial.xml"/>
          <site name="dialStart" pos="0 -0.05 0.035" size="0.005" rgba="0 0 1 1"/>
        </body>

        <site name="goal" pos="0. 0.74 0.07" size="0.02"
              rgba=".8 0 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>
