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

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

      <body name="stick" pos="-0.15 0.75 0.02">
        <freejoint/>
        <inertial pos="0 0 0" mass="1" diaginertia="100000 100000 100000"/>
        <include file="../objects/assets/hook.xml"/>
      </body>

      <body name="object" pos="0.2 0.6 0">
        <include file="../objects/assets/thermos.xml"/>

      </body>
      <site name="goal" pos="-0.15 0.7 1" size="0.02"
            rgba="0 0.8 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>
