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

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

        <body name="peg" pos="0 0.6 0.03">
          <inertial pos="0 0 0" mass="0.1" diaginertia="100000 100000 100000"/>
          <geom name="peg" euler="0 1.57 0" size="0.015 0.015 0.12" type="box" mass=".1" rgba="0.3 1 0.3 1" conaffinity="1" contype="1" group="1"/>
          <joint type="free" limited="false" damping="0.005"/>
          <site name="pegHead" pos="-0.1 0 0" size="0.005" rgba="0.8 0 0 1"/>
          <site name="pegEnd" pos="0.1 0 0" size="0.005" rgba="0.8 0 0 1"/>
          <site name="pegGrasp" pos=".03 .0 .01" size="0.005" rgba="0.8 0 0 1"/>
        </body>

        <body name="box" euler="0 0 1.57" pos="-0.3 0.6 0">
          <include file="../objects/assets/peg_block.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>
