<?xml version="1.0" encoding="utf-8"?>
<mujoco model="door_knob">
	<compiler angle="radian"/>
	<!-- <include file="../../robot/blue_right_v2_position.xml"/> -->
	<!-- <include file="../../robot/blue_right_v2_motor.xml"/> -->
	<include file="../../robot/blue_floatinghook.xml"/>
	<option gravity="0 0 0" timestep="0.001"/>
	<visual>
		<map fogend="5" fogstart="3" force="0.1" zfar="10" znear="0.01"/>
		<quality shadowsize="2048"/>
		<global offheight="256" offwidth="256"/>
	</visual>
	<asset>
		<mesh file="../../door/pullknobs/1555111990/body_1.stl" name="door_knob_1" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_2.stl" name="door_knob_2" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_3.stl" name="door_knob_3" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_4.stl" name="door_knob_4" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_5.stl" name="door_knob_5" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_6.stl" name="door_knob_6" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_7.stl" name="door_knob_7" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111990/body_8.stl" name="door_knob_8" scale="0.001 0.001 0.001"/>
		<texture builtin="flat" height="32" name="wall_geom" type="2d" width="32"/>
		<texture builtin="flat" height="32" name="frame_geom" type="2d" width="32"/>
		<texture builtin="flat" height="32" name="door_geom" type="2d" width="32"/>
		<texture builtin="flat" height="32" name="knob_geom" type="2d" width="32"/>
		<texture builtin="gradient" height="128" rgb1="0.4 0.6 0.8" rgb2="0 0 0" type="skybox" width="128"/>
		<texture builtin="checker" height="512" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" type="2d" width="512"/>
		<material name="Paint" shininess="0.46" specular="0.44" texture="wall_geom"/>
		<material name="Wood" shininess="0.14" specular="0.16" texture="frame_geom"/>
		<material name="Carpet" shininess="0.04" specular="0.03" texture="door_geom"/>
		<material name="Metal" shininess="0.89" specular="0.95" texture="knob_geom"/>
		<material name="Floor" texture="texplane"/>
	</asset>
	<contact>
		<pair geom1="doorstopper" geom2="door0" solref="0.01 1"/>
	</contact>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<default class="wall">
			<geom rgba="0.62 0.11 0.58 1.0" type="mesh"/>
		</default>
		<default class="frame">
			<geom rgba="0.73 0.72 0.73 1.0" type="mesh"/>
		</default>
		<default class="door">
			<geom rgba="0.43 0.2 0.26 1.0" type="mesh"/>
		</default>
		<default class="door_knob">
			<geom condim="4" rgba="0.3 0.88 0.43 1.0" type="mesh"/>
		</default>
		<default class="robot">
			<joint damping="0.09"/>
		</default>
	</default>
	<worldbody>
		<light diffuse="0.9 1.0 0.9" dir="0.2 -0.16 -0.43" directional="true" pos="1.05 4.16 5.09"/>
		<light diffuse="1.0 0.9 0.9" dir="-0.24 0.17 -0.49" directional="true" pos="4.97 4.53 3.09"/>
		<light diffuse="0.9 1.0 0.9" dir="-0.37 0.3 -0.44" directional="true" pos="3.53 -4.52 6.03"/>
		<light diffuse="1.0 0.9 0.9" dir="-0.47 -0.32 -0.49" directional="true" pos="2.59 0.7 4.27"/>
		<light diffuse="1.0 0.9 0.9" dir="-0.34 -0.35 -0.31" directional="true" pos="0.45 1.83 3.9"/>
		<geom material="Floor" name="floor" pos="0 0 -0.05" size="40.0 40.0 0.05" type="plane"/>
		<camera fovy="60" mode="fixed" name="camera1" pos="0.99 -0.5 1.0" euler="0.0 1.57 1.57"/>
		<camera fovy="60" mode="fixed" name="camera2" pos="0.5 0.0 1.99" euler="0 0 0"/>
		<body childclass="wall" name="wall_link" pos="0.0 -0.079 0.0">
			<inertial mass="100" pos="0 0 0" diaginertia="0.0001 0.0001 0.0001"/>
			<geom material="Wood" name="wall_0" pos="0 -1.4805 1.107" size="0.15 1.0 1.107" type="box" euler="0 0 0"/>
			<geom material="Wood" name="wall_1" pos="0 1.5105 1.107" size="0.15 1.0 1.107" type="box" euler="0 0 0"/>
			<geom material="Wood" name="wall_2" pos="0 0 2.714" size="0.15 2.5105 0.5" type="box" euler="0 0 0"/>
			<body childclass="frame" name="frame_link" pos="0 -0.3284 0.99">
				<inertial mass="500" pos="0 0 0" diaginertia="0.0001 0.0001 0.0001"/>
				<geom material="Metal" name="doorstopper" pos="-0.0168 0.06789999999999999 1.0739999999999998" size="0.012 0.05 0.025" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_0" pos="0 -0.1421 0.11699999999999999" size="0.012 0.05 1.107" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_1" pos="0 0.7988999999999999 0.11699999999999999" size="0.012 0.05 1.107" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_2" pos="0 0.32839999999999997 1.174" size="0.012 0.5105 0.05" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_3" pos="-0.05025 -0.1421 0.11699999999999999" size="0.012 0.05 1.107" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_4" pos="-0.05025 0.7988999999999999 0.11699999999999999" size="0.012 0.05 1.107" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_5" pos="-0.05025 0.32839999999999997 1.174" size="0.012 0.5105 0.05" type="box" euler="0 0 0"/>
				<body childclass="door" name="door_link" pos="0.026400000000000003 0 0">
					<joint armature="0.0001" axis="0 0 1" damping="0.18" frictionloss="0" limited="false" name="hinge0" pos="0 0.7388999999999999 0" range="-0.5 0.5" stiffness="0.17" type="hinge"/>
					<geom material="Paint" name="door0" pos="0 0.32839999999999997 0.06699999999999995" size="0.012 0.4105 1.04643" type="box" euler="0 0 0"/>
					<inertial mass="9.58047888" pos="0 0.32839999999999997 0.06699999999999995" diaginertia="4.1060631131298795 3.5683866790532797 0.53859616004908"/>
					<body childclass="door_knob" name="knob_link" pos="0 0 0">
						<inertial mass="1" pos="0 0 0" diaginertia="0.001 0.001 0.001"/>
						<joint armature="0" axis="0 1 0" damping="30000" frictionloss="0" limited="true" name="target0" range="-0.2 0.3" stiffness="0" type="slide"/>
						<joint armature="0" axis="0 0 1" damping="30000" frictionloss="0" limited="true" name="target1" range="-0.5 0.5" stiffness="0" type="slide"/>
						<body childclass="door_knob" name="pullknob_link" pos="0.006 0 0">
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_1" name="door_knob_1" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_2" name="door_knob_2" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_3" name="door_knob_3" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_4" name="door_knob_4" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_5" name="door_knob_5" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_6" name="door_knob_6" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_7" name="door_knob_7" euler="-1.57 1.57 0"/>
							<geom friction="0.64 0.003 0.002" material="Carpet" mesh="door_knob_8" name="door_knob_8" euler="-1.57 1.57 0"/>
						</body>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
</mujoco>