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

    <worldbody>
        <include file="../objects/assets/xyz_base.xml"/>
        <body name="hammerbody" pos="0 0.6 0.02">
          <freejoint/>
          <include file="../objects/assets/hammer.xml"/>

        </body>


        <body name="box" pos="0.24 0.85 0">
          <include file="../objects/assets/hammerblock.xml"/>
          <site name="nailHead" pos="0 -.215 .11" size="0.005" rgba="0.8 0 0 1"/>

          <site name="goal" pos="0 -0.11 0.11" size="0.005" rgba="0 0.8 0 1"/>
        </body>
    </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>
