<mujoco>
    <!-- <include file="shared_config.xml"/> -->
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/lever_dependencies.xml"/>
    <include file="../objects/assets/xyz_base_dependencies.xml"/>

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

        <body name="lever" pos="0 0.88 0">
            <include file="../objects/assets/lever.xml"/>

        </body>

        <site name="goal" pos="0.12 0.88 0.05" size="0.02"
              rgba=".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>
