<!--
# Copyright 2020 (c) Aalto University - All Rights Reserved
# Author: Julius Hietala <julius.hietala@aalto.fi>
#
-->

<mujoco>

<include file="franka_cloth_shared.xml"/>

<equality>
    <weld body1="vive_controller" body2="end_effector_body" solimp="0.9 0.95 0.001" solref="0.02 1"/>
    <weld body1="end_effector_body" body2="B8_0" solimp="0.9 0.95 0.001" solref="0.02 1"/>
</equality>

<include file='assets/teleop_actuator.xml'/>

</mujoco>