<?xml version="1.0" encoding="utf-8"?>
<mujoco model="door_knob">
	<compiler angle="radian"/>
	<include file="../../robot/blue_right_v2_gripper_position.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/1555111995/body_1.stl" name="door_knob_1" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/body_2.stl" name="door_knob_2" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/body_3.stl" name="door_knob_3" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/body_4.stl" name="door_knob_4" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/body_5.stl" name="door_knob_5" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/body_6.stl" name="door_knob_6" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/body_7.stl" name="door_knob_7" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111995/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="gradient" height="512" name="texplane" rgb1="0.43 0.25 0.22" rgb2="0.16 0.34 0.37" type="2d" width="512"/>
		<material name="Paint" shininess="0.29" specular="0.44" texture="wall_geom"/>
		<material name="Wood" shininess="0.07" specular="0.16" texture="frame_geom"/>
		<material name="Carpet" shininess="0.03" specular="0.01" texture="door_geom"/>
		<material name="Metal" shininess="0.8" specular="0.85" texture="knob_geom"/>
		<material name="Floor" texture="texplane"/>
	</asset>
	<contact/>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<default class="wall">
			<geom rgba="0.46 0.19 0.14 1.0" type="mesh"/>
		</default>
		<default class="frame">
			<geom rgba="0.83 0.75 0.74 1.0" type="mesh"/>
		</default>
		<default class="door">
			<geom rgba="0.57 0.39 0.74 1.0" type="mesh"/>
		</default>
		<default class="door_knob">
			<geom condim="4" rgba="0.33 0.83 0.43 1.0" type="mesh"/>
		</default>
		<default class="robot">
			<joint damping="0.09"/>
		</default>
	</default>
	<worldbody>
		<light diffuse="1.0 1.0 0.9" dir="-0.36 -0.25 -0.44" directional="true" pos="0.34 -1.29 4.94"/>
		<light diffuse="0.9 0.9 0.9" dir="0.26 0.46 -0.48" directional="true" pos="4.34 -3.37 4.97"/>
		<geom material="Floor" name="floor" pos="0 0 -0.05" size="15.0 15.0 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 0.0 0.0">
			<inertial mass="100" pos="0 0 0" diaginertia="0.0001 0.0001 0.0001"/>
			<geom material="Carpet" name="wall_0" pos="-0.15 -1.57 1.0855000000000001" size="0.15 1.0 1.0855000000000001" type="box" euler="0 0 0"/>
			<geom material="Carpet" name="wall_1" pos="-0.15 1.6 1.0855000000000001" size="0.15 1.0 1.0855000000000001" type="box" euler="0 0 0"/>
			<geom material="Carpet" name="wall_2" pos="-0.15 0 2.6710000000000003" size="0.15 2.6 0.5" type="box" euler="0 0 0"/>
			<body childclass="frame" name="frame_link" pos="0 -0.35 1">
				<inertial mass="500" pos="0 0 0" diaginertia="0.0001 0.0001 0.0001"/>
				<geom material="Wood" name="door_frame_0" pos="0 -0.21000000000000002 0.08550000000000013" size="0.0145 0.05 1.0855000000000001" type="box" euler="0 0 0"/>
				<geom material="Wood" name="door_frame_1" pos="0 0.91 0.08550000000000013" size="0.0145 0.05 1.0855000000000001" type="box" euler="0 0 0"/>
				<geom material="Wood" name="door_frame_2" pos="0 0.35 1.1210000000000002" size="0.0145 0.6 0.05" type="box" euler="0 0 0"/>
				<geom material="Wood" name="door_frame_3" pos="-0.0485 -0.21000000000000002 0.08550000000000013" size="0.0145 0.05 1.0855000000000001" type="box" euler="0 0 0"/>
				<geom material="Wood" name="door_frame_4" pos="-0.0485 0.91 0.08550000000000013" size="0.0145 0.05 1.0855000000000001" type="box" euler="0 0 0"/>
				<geom material="Wood" name="door_frame_5" pos="-0.0485 0.35 1.1210000000000002" size="0.0145 0.6 0.05" type="box" euler="0 0 0"/>
				<body childclass="door" name="door_link" pos="0 0 0">
					<joint armature="0.0001" axis="0 0 1" damping="1.7" frictionloss="0" limited="true" name="hinge0" pos="0 -0.15 0" range="-1.57 0.0" stiffness="0.14" type="hinge"/>
					<geom material="Wood" name="door0" pos="0 0.35 0.03550000000000009" size="0.0145 0.5 1.025145" type="box" euler="0 0 0"/>
					<inertial mass="18.0177" pos="0 0.35 0.03550000000000009" diaginertia="7.941362835475002 6.441150575950003 1.5027377404750002"/>
					<body childclass="door_knob" name="knob_link" pos="0 0.7 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="0.0085 0 0">
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_1" name="door_knob_1" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_2" name="door_knob_2" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_3" name="door_knob_3" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_4" name="door_knob_4" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_5" name="door_knob_5" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_6" name="door_knob_6" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_7" name="door_knob_7" euler="1.57 1.57 0"/>
							<geom friction="0.8 0.003 0.001" material="Carpet" mesh="door_knob_8" name="door_knob_8" euler="1.57 1.57 0"/>
						</body>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
</mujoco>