<mujoco>
    <include file="scene.xml"/>
    <include file="vx300s_dependencies.xml"/>
    <worldbody>
        <include file="vx300s_left.xml" />
        <include file="vx300s_right.xml" />

        <body name="box" pos="0.2 0.5 0.05">
            <joint name="red_box_joint" type="free" frictionloss="0.01" />
            <inertial pos="0 0 0" mass="0.05" diaginertia="0.002 0.002 0.002" />
            <geom condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.02 0.02 0.02" type="box" name="red_box" rgba="1 0 0 1" />
        </body>

    </worldbody>

    <actuator>
        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
        <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
        <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_left/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_left/wrist_angle" kp="50"  user="1"/>
        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20"  user="1"/>
        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_left/left_finger" kp="200"  user="1"/>
        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_left/right_finger" kp="200"  user="1"/>

        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
        <position ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
        <position ctrllimited="true" ctrlrange="-1.76278 1.6057" joint="vx300s_right/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position ctrllimited="true" ctrlrange="-1.8675 2.23402" joint="vx300s_right/wrist_angle" kp="50"  user="1"/>
        <position ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20"  user="1"/>
        <position ctrllimited="true" ctrlrange="0.021 0.057" joint="vx300s_right/left_finger" kp="200"  user="1"/>
        <position ctrllimited="true" ctrlrange="-0.057 -0.021" joint="vx300s_right/right_finger" kp="200"  user="1"/>

    </actuator>
    <actuator>
        <position name="vx300s_left/waist_t"        ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
        <position name="vx300s_left/shoulder_t"     ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_left/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
        <position name="vx300s_left/elbow_t"        ctrllimited="true" ctrlrange="-1.76278 1.6057"  joint="vx300s_left/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position name="vx300s_left/forearm_roll_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position name="vx300s_left/wrist_angle_t"  ctrllimited="true" ctrlrange="-1.8675 2.23402"  joint="vx300s_left/wrist_angle" kp="50"  user="1"/>
        <position name="vx300s_left/wrist_rotate_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_left/wrist_rotate" kp="20"  user="1"/>
        <position name="vx300s_left/left_finger_t"  ctrllimited="true" ctrlrange="0.021 0.057"      joint="vx300s_left/left_finger" kp="200"  user="1"/>
        <position name="vx300s_left/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.021"    joint="vx300s_left/right_finger" kp="200"  user="1"/>

        <position name="vx300s_right/waist_t"        ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/waist" kp="800"  user="1" forcelimited="true" forcerange="-150 150"/>
        <position name="vx300s_right/shoulder_t"     ctrllimited="true" ctrlrange="-1.85005 1.25664" joint="vx300s_right/shoulder" kp="1600"  user="1" forcelimited="true" forcerange="-300 300"/>
        <position name="vx300s_right/elbow_t"        ctrllimited="true" ctrlrange="-1.76278 1.6057"  joint="vx300s_right/elbow" kp="800"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position name="vx300s_right/forearm_roll_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/forearm_roll" kp="10"  user="1" forcelimited="true" forcerange="-100 100"/>
        <position name="vx300s_right/wrist_angle_t"  ctrllimited="true" ctrlrange="-1.8675 2.23402"  joint="vx300s_right/wrist_angle" kp="50"  user="1"/>
        <position name="vx300s_right/wrist_rotate_t" ctrllimited="true" ctrlrange="-3.14158 3.14158" joint="vx300s_right/wrist_rotate" kp="20"  user="1"/>
        <position name="vx300s_right/left_finger_t"  ctrllimited="true" ctrlrange="0.021 0.057"      joint="vx300s_right/left_finger" kp="200"  user="1"/>
        <position name="vx300s_right/right_finger_t" ctrllimited="true" ctrlrange="-0.057 -0.021"    joint="vx300s_right/right_finger" kp="200"  user="1"/>

    </actuator>



</mujoco>