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

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

      <!-- this is the cylinder asset that has fiction and inertia issues-->
      <!-- <body name="obj" pos="0 0.6 0.02">
        <freejoint/>
        <include file="../objects/assets/block_cyl.xml"/>
      </body> -->

      <body name="obj" pos="0 0.8 0.02">

          <joint name="objjoint" type="free" limited='false' damping="0." armature="0."/>

          <inertial pos="0 0 0" mass=".75" diaginertia="8.80012e-04 8.80012e-04 8.80012e-04"/>
          <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
                size="0.02 0.02" rgba="1 0 0 1" solref="0.01 1"
                contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="block_wood"
          />
      </body>

      <!-- push goal -->
      <site name="goal" pos="-0.2 0.5 0.02" size="0.02"
            rgba="0 0.8 0 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"></weld>
    </equality>
</mujoco>
