<?xml version="1.0" encoding="utf-8"?>
<mujoco model="sawyer">
   <include file="../door_hook_config.xml"></include>
    <worldbody>
        <include file="BaseDomain3.xml"></include>
        <body name="box" pos="0 0.725 0.1">
            <geom type="box" pos="0 .21 0" size="0.22 0.2 0.22"
                      material="bronze" contype="2" conaffinity="2" />
        </body>
        <body name="door" pos="0 0.725 0.1">
                <joint name="doorjoint" pos=".21 0 0" axis="0 0 1"
                       type="hinge" limited="true" range="0 1.0472" damping="0.1" armature="0" />

                <geom material="wood" type="box" pos="0 0 .0" size="0.20 0.01 0.20"
                      contype="2" conaffinity="2" />

                <geom type="box" pos="0 0 .21" size="0.2 0.01 0.01"
                      material="bronze" contype="0" conaffinity="0" />
                <geom type="box" pos="0 0 -.21" size="0.2 0.01 0.01"
                      material="bronze" contype="0" conaffinity="0" />

                <geom type="box" pos="0.21 0 0" size="0.01 0.01 0.22"
                      material="bronze" contype="0" conaffinity="0" />
                <geom type="box" pos="-0.21 0 0" size="0.01 0.01 0.22"
                      material="bronze" contype="0" conaffinity="0" />

                <!--front, parallel to door-->
                <geom type="box" pos="-.05 -0.06 0.05" size="0.1085 0.01 0.01" rgba="0.2 0.2 0.2 1" contype="2" conaffinity="2" />
                <!--front-->
                <geom type="box" pos="0.05 -0.03 0.05" size="0.01 0.03 0.01" rgba="0.2 0.2 0.2 1" contype="2" conaffinity="2"/>
                <geom type="box" pos="-0.15 -0.03 0.05" size="0.01 0.03 0.01" rgba="0.2 0.2 0.2 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"/>
    </actuator>

</mujoco>
