<mujoco>
    <include file="../scene/basic_scene_b.xml"/>
    <include file="../objects/assets/block_dependencies.xml"/>
    <include file="../objects/assets/xyz_base_dependencies.xml"/>

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

      <body name="obj" pos="0 0.6 0.02">
          <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
          <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
          <geom name="objGeom" type="box" pos="0 0 0" solimp="0.99 0.99 0.01"
                size="0.02 0.02 0.02" solref="0.01 1"
                contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="block_wood"
          />
      </body>

      <site name="goal" pos="0. 0.84 0.02" size="0.02"
            rgba="0 0 0.8 1"/>
    </worldbody>

    <actuator>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j0" name="torq_right_j0"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j1" name="torq_right_j1"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j2" name="torq_right_j2"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j3" name="torq_right_j3"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j4" name="torq_right_j4"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j5" name="torq_right_j5"/>
      <motor ctrllimited="false" ctrlrange="-500 500" joint="right_j6" name="torq_right_j6"/>
      <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>
</mujoco>
