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

  <worldbody>

      <body name="bsktball" pos="0 0.6 0.03">
        <freejoint/>
        <include file="../objects/assets/basketball.xml"/>
      </body>
      <include file="../objects/assets/xyz_base.xml"/>

      <body name="basket_goal" pos="0. 0.9 0">
         <include file="../objects/assets/basketballhoop.xml"/>

      </body>

  </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>
