<mujoco model="cabinet">
    <compiler angle="radian" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="cabinet_body" file="./cabinet/cabinet_body.STL" scale="0.001 0.001 0.001" />
        <mesh name="cabinet_door" file="./cabinet/cabinet_door.STL" scale="0.001 0.001 0.001" />
        <mesh name="cabinet_knob" file="./cabinet/cabinet_knob.STL" scale="0.001 0.001 0.001" />
    </asset>
    <worldbody>
        <geom quat="0.707388 0.706825 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0.8 1" mesh="cabinet_body" />
        <body name="door_link" pos="0.774 -0.0055 0.095">
            <inertial pos="-0.0322282 0.000814966 0.0321541" quat="0.706133 -0.0631938 -0.0614386 0.702573" mass="1.343" diaginertia="0.115549 0.0813332 0.0350412" />
            <joint name="base_to_door" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.0" />
            <geom pos="0.006 -0.0055 0" quat="0.000563312 0.000562864 0.706825 0.707388" type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1" mesh="cabinet_door" />
            <geom pos="-0.2175 0.0055 0.217" type="mesh" contype="0" conaffinity="0" group="1" rgba="0 0 0 1" mesh="cabinet_knob" />
        </body>
    </worldbody>
</mujoco>
