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

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

      <body name="plug1" pos="-.252 .6 .131">
        <joint type="free"/>
        <include file="../objects/assets/plug.xml"/>
        <!-- <geom pos="-0.035 0 0" size="0.036 0.021 0.021" type="box" mass=".001" rgba="0.8 0 0 1"/>
        <geom euler="0 1.57 0" pos="-0.013 0 0" size="0.045  0.007" type="cylinder" mass=".001" rgba="0.8 0 0 1"/>
        <geom pos="0.06 0 0" size="0.04" type="sphere" mass=".001" rgba="0.8 0 0 1"/>
        <geom euler="0 1.57 0" pos="0.025 0.0 -0.0" size="0.038 0.038 0.035" type="box" mass=".001"/> -->
      </body>

      <body name="box" pos="-.3 .6 0">
        <include file="../objects/assets/plug_wall.xml"/>
      </body>


        <site name="goal" pos="0 0.6 0.05" size="0.01" 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>
