<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/doorlockA.xml"/>
    </body>

    <site name="goal_lock" pos="0 0.74 0.12" size="0.01"
          rgba="0 0.8 0 1"/>
    <site name="goal_unlock" pos="0.09 0.74 0.211" size="0.01"
          rgba="0 0 0.8 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"/>
  </equality>
</mujoco>
