<mujoco>
	<include file="MPL.xml"/>
	<include file="assets.xml"/>

	<worldbody>
		<geom name="Wall" type="box" material="MatWood" pos="0 0.1 .15" size="0.07 0.01 0.1501"/>
		
		<body name="DoorHandle" pos="0 0.05 0.2">
			<geom name="knob" type="capsule" material="MatFoil" size="0.007 0.03" euler="1.57 0 0" condim="3"/>
			<geom name="Handle" type="capsule" material="MatFoil" pos="0.07 -0.03 0" size="0.009 0.07" euler="0 1.57 0" condim="3"/>
			<joint name="Latch" type="hinge" axis="0 1 0" pos="0 0 0" limited="true" range="0 1.57" stiffness="2" damping="0.1" armature=".01"/>
		</body>
	</worldbody>
</mujoco>