<!-- <?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">
<!--   <asset>
    <texture file="../textures/wood.png" type="cube" name="wood" />
    <texture file="../textures/foil.png" type="cube" name="foil" />
    <material name="MatFoil" texture="foil" specular="1" shininess="0.3" rgba="0.9 0.9 0.9 1" />
    <material name="MatWood" texture="wood" texrepeat="3 3" specular="0.4" shininess="0.1" />
  </asset> -->
    <worldbody>
      <body name="door_body">
        <body name="collision">
          <body name="frame" pos="0 0 0" quat="0.707388 0 0 -0.706825">
              <inertial pos="0.29 0 0" quat="0.5 0.5 0.5 0.5" mass="7.85398" diaginertia="0.923301 0.764585 0.168533" />
              <geom size="0.05 0.27" pos="0.6 0 0" type="cylinder" rgba="1 0 0 1" group="1" />
              <geom size="0.05 0.27" pos="-0.02 0 0" type="cylinder" rgba="1 0 0 1" group="1"/>
              <!-- <site name="S_handle_target" pos="0.75 -0.5 0" size="0.025" group="1"/> -->
              <body name="door" pos="0.29 0 0">
                  <inertial pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" mass="10.43455" diaginertia="0.0913751 0.0521615 0.043714" />
                  <joint name="door_hinge" pos="0.31 0 0" axis="0 0 1" range="0 3.14" limited="true" damping="10" frictionloss="10" />
                  <!-- <joint name="door_hinge" pos="0.31 0 0" axis="0 0 1" range="0 1.57" damping="0.0001" frictionloss="0.0" limited="true" /> -->

                  <geom size="0.2 0.05 0.25" type="box" friction="1 1 1" group="1"/>
                  <geom size="0.05 0.25" pos="0.2 0 0" type="cylinder" group="1" />
                  <geom size="0.05 0.25" pos="-0.2 0 0" type="cylinder" group="1" />
                  <body name="latch" pos="-0.15 0 -0.025">
                      <inertial pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" mass="0.10" diaginertia="0.0483771 0.0410001 0.0111013" />
                      <!-- <joint name="latch" pos="0 0 0" axis="0 1 0" range="0 1.8" frictionloss="1" /> -->
                      <geom size="0.01 0.15" pos="0 0 0.07" quat="0.707388 0.706825 0 0" type="cylinder"  group="1" />
                      <geom size="0.009 0.08" pos="0 -0.15 0.05" quat="0.707388 0 0 0.706825" type="capsule"  group="1"/>
                      <!-- <geom size="0.04 0.07" pos="-0.1 0.1 0" quat="0.707388 0 0.706825 0" type="capsule"  group="1"/> -->
                      <site name="S_handle" pos="0 -0.15 0.100" size="0.0001" group="0"/>
                  </body>
              </body>
          </body>
        </body>
      </body>
    </worldbody>
</mujoco>
