<mujoco>
    <include file="../scene/basic_scene.xml"/>
    <include file="../objects/assets/xyz_base_dependencies.xml"/>
    <include file="../objects/assets/block_dependencies.xml"/>
    <asset>
      <mesh file="../objects/meshes/table/table_hole.stl" name="table_hole"/>
    </asset>
    <worldbody>
      <include file="../objects/assets/xyz_base.xml"/>

      <body name="obj" pos="0 0.6 0.02">
        <joint name="objjoint" type="free" limited='false' damping="0.0" armature="0" />
        <inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
        <geom name="objGeom" type="cylinder" pos="0 0 0" solimp="0.99 0.99 0.01"
              size="0.02 0.02" rgba="1 0 0 1" solref="0.01 1"
              contype="1" conaffinity="1" friction="1 0.1 0.002" condim="4" material="block_red"
        />
      </body>
      <body pos="0 .6 0">
        <geom material="table_wood" pos="0.0 -0.175 0.027" size="0.7 0.225 0.027" type="box" conaffinity="0" contype="0" group="1"/>
        <geom material="table_wood" pos="0.0 0.375 0.027" size="0.15 0.025 0.027" type="box" conaffinity="0" contype="0" group="1"/>
        <geom material="table_wood" pos="-0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="0" contype="0" group="1"/>
        <geom material="table_wood" pos="0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="0" contype="0" group="1"/>

        <geom material="table_col" pos="0.0 -0.175 0.027" size="0.7 0.225 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
        <geom material="table_col" pos="0.0 0.375 0.027" size="0.15 0.025 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
        <geom material="table_col" pos="-0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
        <geom material="table_col" pos="0.425 0.225 0.027" size="0.275 0.175 0.027" type="box" conaffinity="1" contype="0" group="4" solref="0.005 .1"/>
      </body>
      <site name="goal" pos="0. 0.84 0.02" size="0.015"
            rgba="0 0 0.8 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>
