<?xml version="1.0" encoding="utf-8"?>
<!-- from https://github.com/vikashplus/mj_envs/tree/master/mj_envs/hand_manipulation_suite/assets -->
<!-- Information about door can be found in this paper: https://arxiv.org/pdf/1709.10087.pdf -->

<mujoco model="door_frame">
  <asset>
    <texture file="../textures/white-bricks.png" type="cube" name="brick" />
    <material name="BrickWall" texture="brick" specular="1" shininess="0.3" rgba="1 0.3 0.3 1" />
  </asset>
    <worldbody>
      <body>
        <body name="object">
          <body name="frame" pos="0 0 0">
            <geom material="BrickWall" type="box" contype="1" size="0.07 0.005 0.125" name="wall_l" conaffinity="1" pos="-0.16 0 0.02" mass="1000" group="0"/>
            <geom material="BrickWall" type="box" contype="1" size="0.07 0.005 0.125" name="wall_r" conaffinity="1" pos="0.16 0 0.02" mass="1000" group="0"/>
          </body>
        </body>
      <site rgba="0 1 0 1" size="0.005" pos="0 0 -0.125" name="bottom_site"/>
      <site rgba="0 1 0 1" size="0.005" pos="0 0 0.125" name="top_site"/>
      <site rgba="0 1 0 1" size="0.005" pos="0.07 0.005 0" name="horizontal_radius_site"/>
      </body>
    </worldbody>
</mujoco>