<mujoco>
  <worldbody>
  <body name="frame" pos="0.0 0.5 0.44">
      <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 0.25" pos="0.6 0 0" type="cylinder"  rgba="1 0 0 1" contype="1" conaffinity="1"/>
      <geom   size="0.05 0.25" pos="-0.02 0 0" type="cylinder"  rgba="1 0 0 1" contype="1" conaffinity="1"/>
      <site name="S_handle_target" pos="0.75 -0.5 -.18" size="0.025" group='3'/>
      <body name="door" pos="0.29 0 0">
          <inertial pos="0.0296816 -0.00152345 0" quat="0.701072 0 0 0.713091" mass="2.43455" diaginertia="0.0913751 0.0521615 0.043714" />
          <joint type="hinge" name="door_hinge" pos="0.31 0 0" axis="0 0 1" range="0 1.57" damping="1" frictionloss="2" />
          <geom   size="0.2 0.05 0.25" type="box" friction="1 1 1"  contype="1" conaffinity="1"/>
          <geom   size="0.05 0.25" pos="0.2 0 0" type="cylinder"  contype="1" conaffinity="1"/>
          <geom   size="0.05 0.25" pos="-0.2 0 0" type="cylinder"  contype="1" conaffinity="1"/>
          <body name="latch" pos="-0.15 0 -0.025">

              <!-- TODO: fix this inertia. -->
              <!-- as it was, the handle rotated by itself. -->
              <!-- <inertial pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" mass="3.53743" diaginertia="0.0483771 0.0410001 0.0111013" /> -->
              <inertial pos="-0.017762 0.0138544 0" quat="0.365653 0.605347 -0.36522 0.605365" mass="3.53743" diaginertia="1 1 1" />
              <joint type="hinge" name="latch" pos="0 0 0" axis="0 1 0" range="0 1.8" frictionloss="5" />
              <geom   size="0.05 0.15" quat="0.707388 0.706825 0 0" type="cylinder"  contype="1" conaffinity="1"/>
              <geom   size="0.02 0.1" pos="0.1 -0.15 0" quat="0.707388 0 0.706825 0" type="capsule"  contype="1" conaffinity="1"/>
              <geom   size="0.04 0.07" pos="-0.1 0.1 0" quat="0.707388 0 0.706825 0" type="capsule"  contype="1" conaffinity="1"/>
              <site name="S_handle" pos="0.15 -0.15 0" size="0.025" group='3'/>
          </body>
      </body>
  </body>
</worldbody>
</mujoco>
