<?xml version="1.0" encoding="utf-8"?>
<mujoco model="sawyer">
   <include file="door_config_pd.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base_pd.xml"></include>

        <body name="door" pos="0.1 0.85 0.1">
                <joint name="doorjoint" pos="-.21 0 0" axis="0 0 1"
                       type="hinge" limited="true" range="-1.5708 0" damping="0.1" armature="0" />
                <geom type="box" pos="0 0 0" size="0.2 0.01 0.1"
                      rgba=".1 .1 .9 1" contype="2" conaffinity="2" />
                <!--front, parallel to door-->
                <geom type="box" pos="0.15 -0.15 0.05" size="0.05 0.01 0.02" rgba="0 0 0 1" contype="2" conaffinity="2" />
                <!--front-->
                <geom type="box" pos="0.19 -0.075 0.05" size="0.01 0.075 0.02" rgba="0 0 0 1" contype="2" conaffinity="2"/>
        </body>
    </worldbody>

    <actuator>
       <!--  <motor joint="right_j0" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j1" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j2" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j3" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j4" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j5" ctrlrange="-100.0 100.0" ctrllimited="false"/>
        <motor joint="right_j6" ctrlrange="-100.0 100.0" ctrllimited="false"/> -->
        <velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0"/>
        <velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1"/>
        <velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2"/>
        <velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3"/>
        <velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4"/>
        <velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5"/>
        <velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6"/>
        <motor gear="100" joint="rc_close" name="slide"/>
    </actuator>

</mujoco>
