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

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

      <body name="window" pos="-0.1 0.785 0.202">
        <include file="../objects/assets/window_horiz.xml"/>
      </body>

      <site name="goal" pos="0. 0.7 0.27" 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>
