<?xml version="1.0" encoding="utf-8"?>
<!-- from https://github.com/vikashplus/mj_envs/tree/master/mj_envs/hand_manipulation_suite/assets -->
<!-- Information about door can be found in this paper: https://arxiv.org/pdf/1709.10087.pdf -->

<mujoco model="door_frame">
  <asset>
    <texture file="../textures/light-wood.png" type="cube" name="light-wood" />
    <texture file="../textures/dark-wood.png" type="cube" name="dark-wood" />
    <texture file="../textures/brass-ambra.png" type="cube" name="metal" />
    <material name="MatMetal" texture="metal" specular="1" shininess="0.3" rgba="0.9 0.9 0.9 1" />
    <material name="MatDarkWood" texture="dark-wood" texrepeat="3 3" specular="0.4" shininess="0.1" />
    <material name="MatLightWood" texture="light-wood" texrepeat="3 3" specular="0.4" shininess="0.1" />
  </asset>
    <worldbody>
      <body>
        <body name="object">
          <body name="frame" pos="0 0 0">
              <inertial pos="0.3 0 0" quat="0.5 0.5 0.5 0.5" mass="7.85398" diaginertia="0.923301 0.764585 0.168533" />
              <geom size="0.01 0.3" pos="0.15 0 0" type="cylinder" rgba="1 1 1 1" group="0" name="r_frame"/>
              <geom size="0.01 0.3" pos="-0.15 0 0" type="cylinder" rgba="1 1 1 1" group="0" name="l_frame"/>
          </body>
        </body>
        <site name="bottom_site" pos="0 0 -0.3" rgba="0 0 0 0" size="0.005"/>
        <site name="top_site" pos="0 0 0.3" rgba="0 0 0 0" size="0.005"/>
        <site name="horizontal_radius_site" pos="0.15 0 0" rgba="0 0 0 0" size="0.1"/>
      </body>
    </worldbody>
</mujoco>