<?xml version="1.0" encoding="utf-8"?>
<mujoco model="sawyer">
   <include file="door_hook_config.xml"></include>
    <worldbody>
        <include file="sawyer_xyz_base_door_hook.xml"></include>
        <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 type="box" pos="-1.21 0 0" size="0.01 0.01 0.22"
                      material="darkwood" contype="0" conaffinity="0" />
        </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>
