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

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

        <body name="puck_channel" pos="0. 0.6 0.015">
            <include file="../objects/assets/puck.xml"/>

        </body>
        <body name="puck_goal" pos="0. 0.85 0">
            <include file="../objects/assets/puck_goal.xml"/>
        </body>
        <site name="goal" pos="0 0.85 .02" size="0.015"
              rgba="0.8 0 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>
