<?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/1555111999/body_1.stl" name="door_knob_1" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/body_2.stl" name="door_knob_2" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/body_3.stl" name="door_knob_3" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/body_4.stl" name="door_knob_4" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/body_5.stl" name="door_knob_5" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/body_6.stl" name="door_knob_6" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/body_7.stl" name="door_knob_7" scale="0.001 0.001 0.001"/>
		<mesh file="../../door/pullknobs/1555111999/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="0.02 0.0 0.36" rgb2="0.26 0.35 0.23" type="2d" width="512"/>
		<material name="Paint" shininess="0.02" specular="0.16" texture="wall_geom"/>
		<material name="Wood" shininess="0.05" specular="0.14" texture="frame_geom"/>
		<material name="Carpet" shininess="0.01" specular="0.04" texture="door_geom"/>
		<material name="Metal" shininess="0.96" specular="0.94" texture="knob_geom"/>
		<material name="Floor" texture="texplane"/>
	</asset>
	<contact/>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<default class="wall">
			<geom rgba="0.07 0.82 0.47 1.0" type="mesh"/>
		</default>
		<default class="frame">
			<geom rgba="0.72 0.7 0.77 1.0" type="mesh"/>
		</default>
		<default class="door">
			<geom rgba="0.14 0.98 0.02 1.0" type="mesh"/>
		</default>
		<default class="door_knob">
			<geom condim="4" rgba="0.68 0.42 0.78 1.0" type="mesh"/>
		</default>
		<default class="robot">
			<joint damping="0.09"/>
		</default>
	</default>
	<worldbody>
		<light diffuse="1.0 0.9 0.9" dir="-0.03 0.47 -0.45" directional="true" pos="0.86 3.2 4.73"/>
		<light diffuse="1.0 0.9 1.0" dir="-0.11 -0.44 -0.35" directional="true" pos="0.19 -4.4 6.25"/>
		<light diffuse="0.9 0.9 1.0" dir="0.39 -0.27 -0.43" directional="true" pos="1.35 -0.66 5.01"/>
		<light diffuse="1.0 1.0 0.9" dir="-0.29 0.36 -0.39" directional="true" pos="1.55 3.16 4.96"/>
		<light diffuse="1.0 0.9 1.0" dir="-0.22 0.23 -0.43" directional="true" pos="2.5 -1.37 3.42"/>
		<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 0.049 0.0">
			<inertial mass="100" pos="0 0 0" diaginertia="0.0001 0.0001 0.0001"/>
			<geom material="Wood" name="wall_0" pos="-0.15 -1.5225 1.118" size="0.15 1.0 1.118" type="box" euler="0 0 0"/>
			<geom material="Wood" name="wall_1" pos="-0.15 1.5525 1.118" size="0.15 1.0 1.118" type="box" euler="0 0 0"/>
			<geom material="Wood" name="wall_2" pos="-0.15 0 2.736" size="0.15 2.5525 0.5" type="box" euler="0 0 0"/>
			<body childclass="frame" name="frame_link" pos="0 -0.3258 0.954">
				<inertial mass="500" pos="0 0 0" diaginertia="0.0001 0.0001 0.0001"/>
				<geom material="Paint" name="door_frame_0" pos="0 -0.18670000000000003 0.16400000000000015" size="0.013 0.05 1.118" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_1" pos="0 0.8383 0.16400000000000015" size="0.013 0.05 1.118" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_2" pos="0 0.3258 1.2320000000000002" size="0.013 0.5525 0.05" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_3" pos="-0.0455 -0.18670000000000003 0.16400000000000015" size="0.013 0.05 1.118" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_4" pos="-0.0455 0.8383 0.16400000000000015" size="0.013 0.05 1.118" type="box" euler="0 0 0"/>
				<geom material="Paint" name="door_frame_5" pos="-0.0455 0.3258 1.2320000000000002" size="0.013 0.5525 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 0.7783 0" range="-0.0 1.57" stiffness="0.19" type="hinge"/>
					<geom material="Paint" name="door0" pos="0 0.3258 0.1140000000000001" size="0.013 0.4525 1.05732" type="box" euler="0 0 0"/>
					<inertial mass="45.43511232" pos="0 0.3258 0.1140000000000001" diaginertia="20.375834257286563 17.277352696289924 3.1036005836513603"/>
					<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="0.006999999999999999 0 0">
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_1" name="door_knob_1" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_2" name="door_knob_2" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_3" name="door_knob_3" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_4" name="door_knob_4" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_5" name="door_knob_5" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_6" name="door_knob_6" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_7" name="door_knob_7" euler="-1.57 1.57 0"/>
							<geom friction="0.8 0.002 0.003" material="Wood" mesh="door_knob_8" name="door_knob_8" euler="-1.57 1.57 0"/>
						</body>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
</mujoco>