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

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

    <body name="door" pos="0 0.9 0.15">
      <include file="../objects/assets/doorlockB.xml"/>
    </body>

    <site name="goal" pos="-0.49 0.46 0.15" size="0.02"
          rgba="0 0.8 0 0"/>
  </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"/>
  </equality>
</mujoco>
